Sesame Street’s longtime voice and puppeteer of Elmo, Kevin Clash, has resigned from the PBS children’s programme, after a second underage sexual relationship allegation was made against him.

Clash joined the cast of Sesame Street as a puppeteer in 1984, voicing different characters before eventually taking on the role of Elmo permanently.

Clash said in a statement, “Personal matters have diverted attention away from the important work Sesame Street is doing and I cannot allow it to go on any longer. I am deeply sorry to be leaving and am looking forward to resolving these personal matters privately.”