D’Angelo, whose cool tunes and one hot music video made him a legend of neo-soul music, has died, according to a statement from his family. He was 51.

“The shining star of our family has dimmed his light for us in this life,” his family said in a statement provided to CNN by RCA, his longtime record company.

He died on Tuesday “after a prolonged and courageous battle with cancer,” his family said.

“We are saddened that he can only leave dear memories with his family, but we are eternally grateful for the legacy of extraordinarily moving music he leaves behind,” the statement added.

“We ask that you respect our privacy during this difficult time but invite you all join us in mourning his passing while also celebrating the gift of song that he has left for the world.”

This story is developing.