Malcolm-Jamal Warner's body was released to his family after the actor tragically drowned during a vacation in Costa Rica earlier this month

Warner is survived by his wife and daughter, the latter of whom was born in 2017. While notoriously private, he has, however, posted about both his other half and their child on social media.

Authorities have confirmed the official cause of death for Malcolm-Jamal Warner, who died Sunday in Costa Rica while swimming at Playa Grande in Cahuita, a village in the province of Limón. Warner, who famously played Theodore Huxtable on “ The Cosby Show ,” was 54.