James B. Sikking, the actor known for his roles on shows like Hill Street Blues and Doogie Howser, M.D., has died. He was 90.

Sikking died of Dementia on Saturday at his Los Angeles home, where his publicist Cynthia Snyder tells Deadline that the actor was surrounded by family in his final moments.

“In a remarkable career, Sikking’s wonderfully exciting face gave us drama, comedy, tragedy and hilarious farse. His career spanned over six decades in television, film and on stage,” said Snyder in a statement, adding: “His talent, integrity and imagination intrigued and delighted audiences.”

Most known for playing Lt. Howard Hunter on Hill Street Blues and Dr. David Howser on Doogie Howser, M.D., Sikking also appeared on such shows as Rawhide, Bonanza, Starsky & Hutch, The Rockford Files, Brooklyn South, Turnabout, General Hospital and Curb Your Enthusiasm.

On the big screen, Sikking starred alongside Frank Sinatra in Von Ryan’s Express (1965) and Elvis Presley in Charro! (1969), as well as films like Ordinary People (1960), Scorpio (1973), Star Trek III: The Search for Spock (1984), The Pelican Brief (1993), Fever Pitch (2005) and Made of Honor (2008).

Sikking also appeared onstage in such plays as Exit Strategy, The Big Knife, Put Them All Together, Nobody Loves an Albatross and a tour of Neil Simon‘s Plaza Suite.

Born March 5, 1934 in Los Angeles, Sikking was named after author James Barrie. “It seemed a perfect choice,” said Snyder. “There is a bit of Peter Pan in James… his sense of imagination appeared whether playing roles on stage or screen.”

He studied theater at UCLA, where he met wife Florine Caplan, while also serving in the military.

Sikking is survived by wife Florine, son Andrew, daughter Dr. Emily Sikking and four grandchildren.