2016 has claimed yet another beloved actor.

The Wrap reports that Ron Glass, known as Detective Ron Harris on ABC’s classic sitcom Barney Miller and as Shepherd Book on Joss Whedon’s cult sci-fi series Firefly, passed away Friday night at the age of 71 due to respiratory failure.

Glass got his start back in 1973 with a guest spot on All in the Family, which he followed up with appearances on Maude, Hawaii 5-0, and The Bob Newhart Show. After doing a series of small appearances Glass got his chance to shine with his Emmy-nominated turn as Detective Harris in all eight seasons of Barney Miller. Glass continued to keep a steady work flow throughout his career, guest starring in Friends and Agents of S.H.I.E.L.D., and lending his voice to Randy Carmichael in Rugrats. Of all his performances Glass may be most fondly remembered as the relentlessly kind and understanding Shepherd Derrial Book in Firefly and Serenity, whose quiet wisdom helped keep the Serenity crew together through their misadventures.

"Shepard, don't move."
"Won't go far."
We love you, Ron Glass. Don't go far. https://t.co/BAzpzTBLLv

— Nathan Fillion (@NathanFillion) November 26, 2016

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

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

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. 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

I hope Ron Glass is somewhere, enjoying a horrible cup of coffee with Jack Soo. #RIPRonGlass

— Patton Oswalt (@pattonoswalt) November 26, 2016

It was an Honor & a Pleasure to work with the Amazing Ron Glass! RIP, Sir!

— Samuel L. Jackson (@SamuelLJackson) November 26, 2016