Most well known for his portrayal of Detective "Wojo" Wojciehowicz on the ABC police sitcom Barney Miller, he is also notable for his role as Harold in the 1983 film D.C. Cab.
After graduating from Williams College, he worked as a teacher. He made his professional stage debut in the 1970 San Francisco premiere of One Flew Over the Cuckoo's Nest.
In 1984, he performed a one-man Broadway play titled The Babe.
The child of Maxwell and Mary Gail, he grew up in Grosse Ile, Michigan. Through his marriage to Willie Bier (which ended with Bier's 1986 death from cancer), he fathered a daughter named India; his second marriage, to Nan Harris, resulted in children named Grace and Maxwell.
In the early 1980s, he co-starred with Matthew Laborteaux in the CBS series Whiz Kids.