Credit: Anacleto Rapping/Los Angeles Times via Getty Images

Veteran stage and television actor Steven Hill died on Tuesday at age 94, his daughter confirmed to the New York Times.

Hill was best known for portraying District Attorney Adam Schiff on Law & Order from 1990 to 2000. Hill’s character appeared in all but two episodes of the show’s original 10 seasons, earning him two Primetime Emmy nominations. In 2000, after season 10 wrapped, Hill resigned from the series and retired from acting.

Before Law & Order, one of Hill’s most memorable roles came in 1966, when he starred on the action television series Mission: Impossible as team leader Dan Briggs. Though Hill was the show’s star, he appeared on only one season.

Hill also had a robust film career, spanning from 1950’s A Lady Without Passport to 1993’s The Firm. His supporting role as criminal accountant Otto Berman in 1991’s Billy Bathgate adaptation earned him recognition at the National Society of Film Critics Awards and the New York Film Critics Circle Awards.