Steven Hill, who is best known for his role on Law & Order, has died at the age of 94. Hill's daughter Sarah Gobioff confirmed his passing to the New York Times on Tuesday.

Hill's first breakout role was when he landed the part of Daniel Briggs in the 1960s television series Mission: Impossible. However, Hill was let go from the show after only one season and replaced by Peter Graves.

Remember the celebrities we lost this year

Decades later, Hill made his mark when was cast as district attorney Adam Schiff on the groundbreaking legal procedural Law & Order. Hill stayed with the Dick Wolf drama for its first 10 seasons, spanning from 1990 to 2000. When Law & Order ended in 2010, only three other stars managed to beat Hill's impressive 229 episode count: Sam Waterston, S. Epatha Merkerson and Jerry Orbach.

The role of Adam Schiff earned Hill two Emmy nominations for Lead Actor in a Drama Series and also marked Hill's final onscreen appearance. The actor formally retired after leaving Law & Order, with the exception of appearing in a series of online investment commercials in 2002.

Hill is survived by his wife, four daughters, five sons, a sister, a brother and many grandchildren and great-grandchildren.