Veteran stage and television actor Steven Hill died on Tuesday at age 94, his daughter confirmed to the New York Times.

Hill was best known for portraying District Attorney Adam Schiff on Law & Order from 1990 to 2000. Hill’s character appeared in all but two episodes of the show’s original 10 seasons, earning him two Primetime Emmy nominations. In 2000, after season 10 wrapped, Hill resigned from the series and retired from acting.

Before Law & Order, one of Hill’s most memorable roles came in 1966, when he starred on the action television series Mission: Impossible as team leader Dan Briggs. Though Hill was the show’s star, he appeared on only one season.