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The actor, who played Alan's onscreen son on Growing Pains, shared a beautiful message about his costar on Instagram, writing, "I spent Monday through Friday for seven important years with Alan Thicke as my 'TV dad.' I'm shocked and truly heartbroken today at the news of his death. Alan was a generous, kind and loving man. I am so blessed to have grown up with him. Chelsea and I send our love and prayers to his family tonight. We will cherish the memories... 'sharing the laughter and love.'"