He decided to pursue a career in acting after watching a performance of Gilbert and Sullivan's Utopia Limited at Harvard University, where he graduated magna cum laude in 1967.
He has won 5 Emmy Awards, two Tony Awards, two Golden Globes, two Screen Actor Guild Awards, and an American Comedy Award.
He was married to his first wife Jean Taynton from 1966-1980. He married Mary Yeager in 1982. He has three children: Ian, Phoebe and Nathan.