Malcolm-Jamal Warner died at 54, with his official cause of death now being revealed. The actor was on a family vacation in Costa Rica when he died from an accidental drowning, the Judicial Investigation Agency (OIJ) confirmed to PEOPLE.

Kelly Ripa took time out of Tuesday’s episode of Live With Kelly and Mark to honor late actor Malcolm-Jamal Warner. After news broke Monday that The Cosby Show star died the day before at the age of 54 in an accidental drowning,