For more than two decades, the R&B singer Robert Kelly, who performs as R. Kelly, has faced accusations of sexual misconduct and abuse.

This week, a six-part documentary on Lifetime is taking an expansive look at the allegations against Mr. Kelly, a chart-topping artist whose history has invited extra scrutiny in recent years.

The series, “Surviving R. Kelly,” includes testimony from several women who accuse the singer of abuse, as well as commentary from Mr. Kelly’s critics, including the founder of the #MeToo movement, Tarana Burke, and the singer John Legend.

The six episodes, each an hour long, cover the long history of allegations against Mr. Kelly. They feature women who described being controlled or abused by him, often when they were teenagers, as well as associates and relatives of the singer.