Character actor Denis Arndt, who appeared in Basic Instinct, a slate of David E. Kelley shows and earned a Tony nomination for his role in Broadway’s two-hander Heisenberg, has died at the age of 86, his family announced in an obituary published Wednesday.

“It is with a heavy heart that I announce the passing of our dad, Denis Leroy Arndt,” the statement read. “He died peacefully in his bed in his beloved cabin home of almost 50 years in Ashland, Oregon; he wouldn’t have had it any other way.”

Born Feb. 23, 1939 in Issaquah, Wash., Arndt served as a helicopter pilot during the Vietnam War and was awarded the Purple Heart twice. Afterward, the soon-to-be prolific actor moved to Seattle, where a friend convinced him to audition for a local theater, paving the way to more onstage roles later in his career.

“Of course, Dad got the main role. And he was brilliant. He carried his brilliance, passion, and dedication into his second career as an actor, both on stage and on screen,” the obit read.

His regional credits include productions at Seattle Rep, Arizona Theatre Company, Artists Repertory, Mark Taper Forum and many others. At Oregon Shakespeare Festival, he performed title roles in King Lear and Coriolanus, as well as leading roles in The Tempest and Othello. In 2017, Arndt received a Tony nomination for Best Lead Actor in a Play for his portrayal of Alex in Simon Stephen’s Heisenberg opposite Mary-Louise Parker’s Georgie, which his family deemed the “pinnacle of his career.”

Arndt began appearing on screen in the ’70s, both on television and film. For the former, his credits include: Murder, She Wrote, CSI, S.W.A.T., Supernatural, Grey’s Anatomy, The Good Fight, How to Get Away With Murder and Kelley’s legal series L.A. Law, Picket Fences, Ally McBeal, The Practice and Boston Legal. In 1992, he played the lieutenant who interrogated Sharon Stone’s character in one of Basic Instinct‘s iconic scenes. In 2002, he also acted opposite Wesley Snipes and Ving Rhames in Undisputed.

“In his own way, Dad lived his life as a full and generous performance, known for his incredible wit, charm, rebel spirit, irreverence, sense of humor, grittiness, and passion for his art. His legacy, both on and off stage, will live on in the hearts of family, friends, and community members. He was charming, handsome, present in the moment, spontaneous, and magnetic – a true Renaissance man … In lieu of flowers, he would request you go grab life by the balls and follow your passion. As the final curtain falls, we bid farewell to our Dad, knowing he has earned a standing ovation for the remarkable life he led,” the obituary concludes.