Groundbreaking TV producer Steven Bochco died Sunday at the age of 74 after a long battle with cancer. He was best known for co-creating Hill Street Blues, L.A. Law and NYPD Blue, all of which were double-digit Emmy winners that redefined what TV could be and influenced every crime show that came after.

Perhaps it's been a long time since you've watched these shows, or perhaps you weren't born yet when they were peaking and only know them as "the shows that made The Sopranos and The Wire possible." But now's a good time to pay respect to one of TV's greats by revisiting some of Bochco's work, many of which are available to stream on Hulu.

Hill Street Blues' entire seven-season run is on Hulu, making it easier than ever to enjoy this classic. The cop drama premiered in 1981 and broke new ground with its realistic style and themes. Bochco co-created it with Michael Kozoll, but he was fired after Season 5.

Steven Bochco, Co-Creator of Hill Street Blues and NYPD Blue, Dies at 74

In 1989, Bochco co-created Doogie Howser, M.D. alongside similarly iconic producer David E. Kelley. The light medical drama about a teenage doctor never got the critical acclaim of Bochco's other successful shows, but it launched the career of Neil Patrick Harris, which is something to be proud of. All four seasons are on Hulu.

After striking gold in the '80s with Hill Street Blues and L.A. Law, Bochco hit gold again in the '90s with NYPD Blue, which premiered in 1993 and ran for 12 seasons. Created with David Milch, who went on to create Deadwood, the series was realistic and gritty in a way atypical for network TV back then. One of its most memorable innovations was the show's depiction of nudity, which had never before been shown on network TV as graphically as it was on the show. NYPD Blue is available to stream Hulu.

Bochco's next legal show, Murder One, ran for two seasons starting in 1995. It won some Emmys but never caught on with viewers, but now that it's on Hulu it may be due for rediscovery. Bochco's final show, TNT's crime anthology Murder in the First, is available on Hulu and Amazon if you're interested in exploring his later work.

Unfortunately, L.A. Law, which he co-created with Terry Louise Fisher in 1986, is not available to stream at this time. Neither is Cop Rock, his infamously weird cop musical series that lasted for one season in 1990.