Television actor Ron Glass, who was best known for his roles as Shepherd Book on Firefly and as Detective Ron Harris on Barney Miller has passed away yesterday, according to TV Line. He was 71 years old.

Glass got his start acting for the stage in Minneapolis before landing roles on a variety of television shows in the early 1970s, such as All in the Family, Hawaii Five-O, and Sanford and Sons before landing a major role in Barney Miller in 1975. In 2002, Joss Whedon cast him in his science fiction show Firefly and its follow-up feature film, Serenity in 2005. More recently, he has appeared in CSI and Agents of SHIELD.

Glass noted in a 2013 interview that while he had avoided science fiction for most of his career, his guest role on Star Trek: Voyager turned him around, and that his role as Shepherd Book was "one of the most loved characters" he ever played. In particular, he appreciated the passion of the fans of the short-lived show. "They are so loyal and supportive and enthusiastic. They have kept me soaring."

Glass's cast members have be paid tribute to their co-star:

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

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