Bob McGrath, who played Bob Johnson on the popular children’s show “Sesame Street,” has died at the age of 90. His family and Sesame Workshop publicized the news on social media in a joint statement.

“The McGraths have some tragic news to deliver. Bob McGrath, our father, died today. He died peacefully at home, surrounded by his family,” according to the statement.

In a Twitter thread, Sesame Workshop paid tribute to McGrath’s nearly five decades on the show. “As a founding cast member, Bob represented Sesame Street’s melodies like no one else, and his performances brought joy and wonder to generations of children worldwide,” the statement said in part.

“We will be eternally thankful to him for his many years of passionate, creative contributions to Sesame Street, and we are thrilled that he shared so much of his life with us.”

McGrath appeared on the premiere episode of “Sesame Street” in 1969 and went on to work on 47 seasons of the show before leaving in 2017 but continuing to represent it at various events in subsequent years.

He was a talented tenor and musician who performed in concert halls worldwide. McGrath also contributed to the success of several “Sesame Street” songs, including “People in Your Neighborhood” and “Sing a Song,” which have become childhood favorites.

Alan Muraoka, a “Sesame Street” cast member, paid tribute to McGrath on Instagram, calling him a “role model” and a “mentor.” McGrath stated in a 2015 interview that being on “Sesame Street” taught him the importance of listening closely to what children have to say.