Malcolm-Jamal Warner died at 54, with his official cause of death now being revealed. The actor was on a family vacation in Costa Rica when he died from an accidental drowning, the Judicial Investigation Agency (OIJ) confirmed to PEOPLE.

Off screen, Warner managed to sidestep the pitfalls and scandals that so many child stars face. After “The Cosby Show” ended in 1992, Warner went on to other beloved series, including “Malcom & Eddie,” “The Resident” and “9-1-1,” an impressive career transition for any actor who has grown up on television.