Malcolm-Jamal Warner, the Emmy-nominated actor who played Theo Huxtable on 'The Cosby Show,' has died during a family vacation in Costa Rica. He was 54.

Since creating and starring as Dr. Cliff Huxtable on The Cosby Show, the once-beloved and ubiquitous comedian and actor Bill Cosby has seen his public image and career impacted by numerous allegations of sexual assault and abuse, all of which he has consistently denied.