Ron Glass, who played stylish and sassy NYPD detective/aspiring author Ron Harris on ABC’s long-running sitcom Barney Miller, died on Friday of respiratory failure, a spokesperson for the veteran actor has confirmed for TVLine. He was 71.

In addition to his role on the Emmy-winning workplace comedy, Glass portrayed the spiritual Shepherd Book on Fox’s short-lived sci-fi drama Firefly (as well as its big-screen follow-up, Serenity). His lengthy resume also included fellow one-and-done programs including The New Odd Couple (in the Felix Unger role), Rhythm & Blues, Mr. Rhodes and Teen Angel, as well as guest appearances on All in the Family, Sanford and Son, The Streets of San Francisco, Amen and Friends. In recent years, he appeared in episodes of Marvel’s Agents of S.H.I.E.L.D., Major Crimes and CSI.

Glass’ prolific career also included voiceover work, having been featured on Rugrats (and its spinoff All Grown Up!), Superman, Aladdin and The Proud Family.

Glass’ Barney Miller castmate Abe Vigoda died earlier this year, at age 94.

Firefly creator Joss Whedon, and costars Nathan Fillion, Adam Baldwin, Alan Tudyk, Jewel Staite and Sean Maher have since paid tribute on social media.

He got there with grace, humor & enormous heart. He was, among so many other things, my Shepherd. Raise, appropriately, a glass. Rest, Ron. pic.twitter.com/yzPly7TmgE — Joss Whedon (@joss) November 26, 2016

Happy rebirth, dear Ron Glass. Among the kindest and gentlest souls to have walked this earth with us.https://t.co/rF1bDPxeRa — Adam Baldwin (@AdamBaldwin) November 26, 2016

Ron Glass was one of the greatest actors to work with. His laugh was beyond infectious and his generosity was ever present. #ripronglass — alan tudyk (@AlanTudyk) November 26, 2016

Ron Glass was also a sassy smart ass and I prize that very much. A leaf on the wind. #ripronglass — alan tudyk (@AlanTudyk) November 26, 2016

Ron Glass. What an honor it was to know you, to work beside you and to have called you my friend. You will be missed. I love you sir. — Sean Maher (@Sean_M_Maher) November 26, 2016