Initial reports didn't state Shepard's cause of death, but the details have now been revealed.
According to CNN, Shepard passed away from complications of ALS, also known as Lou Gehrig's disease.
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Chris Boneau, a spokesperson for Shepard's family, shared the news on Tuesday. Boneau also called for the privacy for the remaining family members.
"The family requests privacy at this difficult time," Boneau said in a statement.
Shepard's biggest role as of late was his important turn as the late patriarch of the Rayburn family on Bloodline.
The actor is survived by three children and two sisters.