Malcolm-Jamal Warner was rescued from sea by bystanders after being swept away but couldn’t be revived

COSTA RICA, CENTRAL AMERICA: Authorities in Costa Rica have released new details following the tragic death of actor Malcolm-Jamal Warner, who died at 54 after drowning while on a family vacation.

The actor, best known for his role as Theo Huxtable on 'The Cosby Show', was pulled from the ocean by bystanders who rushed to his aid.

Despite their efforts to revive him, Warner was pronounced dead at the scene. The beloved star rose to fame in the 1980s as the only son of Bill Cosby’s character in the iconic sitcom, which aired from 1984 to 1992.

New details released in drowning death of Malcolm-Jamal Warner at 54

Authorities in Costa Rica have revealed new information about the tragic death of actor Malcolm-Jamal Warner, who drowned while vacationing with family.

According to a statement from the Judicial Investigation Agency shared with PEOPLE, Warner is believed to have been swept away by a strong current after entering the ocean. Bystanders pulled him from the water and brought him to shore, where Costa Rican Red Cross responders attempted life-saving measures.

The statement read, "The victim appears to have entered the sea and was apparently swept away by a current. The man was rescued by bystanders and taken to shore, where he received treatment from the Costa Rican Red Cross. However, he was declared lifeless at the scene."

A spokesperson for the Red Cross told that paramedics "performed cardiopulmonary resuscitation on the patient for more than 20 minutes, but without successful results.” Warner was pronounced dead at the scene.

Officials later confirmed that the cause of death was "asphyxiation by submersion."

His body was transported to the morgue in San Joaquin de Flores for an autopsy, which confirmed the cause of death, according to the Costa Rican National Police on Monday, July 21.

Co-stars mourn loss of Malcom-Jamal Warner

Following his breakout role as Theo Huxtable on 'The Cosby Show', Malcolm-Jamal Warner continued to build a successful career in television and voice acting for decades after the series ended in 1992.

From 1994 to 1997, he lent his voice to 'The Magic School Bus' as The Producer. But it was in 1996 that he returned to a leading on-screen role, starring opposite Eddie Griffin in the sitcom 'Malcolm & Eddie.' Warner appeared in all 89 episodes until the show concluded in 2000.

Eddie Griffin, 57, shared an emotional tribute shortly after the news of Warner’s death broke.

Posting a photo of his longtime co-star on Instagram, Griffin wrote, “My heart is heavy today. For what the world lost was a Father a Son a Poet a Musician a Actor a Teacher a Writer a Director a Friend a Warrior that I had the pleasure of going to war with against the Hollywood machine and sometimes with each other because that’s what Brothers do but the Love was and is always there🙏🏾. You’ve taught me so much and I thank you 🙏🏾 Rest Well My Big little Brother 🙏🏾❤️🙏🏾."

Tracee Ellis Ross, who starred alongside Warner in the BET comedy 'Reed Between the Lines' (2011–2015), also reflected on his sudden death. The two played husband and wife in the short-lived but beloved series.

“I love you, Malcolm. First I met you as Theo with the rest of the world then you were my first TV husband. My heart is so so sad,” Ross wrote.

She added, “What an actor and friend you were: warm, gentle, present, kind, thoughtful, deep, funny, elegant. You made the world a brighter place. Sending so much love to your family. I’m so sorry for this unimaginable loss."