New York City’s museums aren’t the only places to find beautiful or thought-provoking art. Since 1967, when the first public art program was established in the city, a diverse array of agencies and institutions—including the MTA, the Public Art Fund, and the NYC Parks Department—have worked to enrich New Yorkers’ lives by adding whimsical, colorful, and occasionally controversial artworks throughout the five boroughs.

Some of the city’s best public art wasn’t even sanctioned, at least not at first; witness many of Keith Haring’s early pieces—including his famed “Crack Is Wack” mural—which was created without official consent. But whether it’s city-backed or not, one thing is certain: New York would be a very different place without public art.

Here, we’ve gathered 20 of the best public artworks in New York City; unlike the temporary installations often found along the High Line or in other high-traffic areas, these are pieces that have stood the test of time, and will remain in place for years to come.