Emmy-winning actor Robery Guillaume died Tuesday at the age of 89, according to press reports. 

Guillaume, who battled prostate cancer, was best known for its role as Benson DuBois in two 1980s ABC sitcoms, Soap and Benson. Guillaume would win an Emmy Award from each show for portraying the quick-witted character.

Guillaume also starred in the ABC sitcom Sports Night from 1998-2000 and narrated the HBO animated children’s series Happily Ever After: Fairy Tales for Every Child from1995 to 2000. Guillaume also starred in several theatrical films throughout his career, including serving as the voice of the mandrill Rafiki in The Lion King film.

Guillaume was also an accomplished theater actor, earning a 1977 Tony nomination for his performance of Nathan Detroit in Guys and Dolls. He was also the first African-American to sing the title role of Phantom of the Opera, according to the Associated Press.