Taye Diggs and Idina Menzel’s son, Walker Nathanial Diggs, recently celebrated his 16th birthday.

On September 2, Diggs marked the milestone on Instagram with a tribute reflecting on his years of fatherhood.

“Birthday. I’m smiling so big while typing. 16 years of learning and discovering and adjusting and laughing and playing and crying and then learning some more,” the Best Man star wrote. “You’re the BEST, kid. I’m grateful to you as well as your mother, Aaron and all the other bright lights that surround you with love. We’re doing ok with you so far. Keep up the good work and thanks for choosing us.”

Diggs shares Walker with his ex-wife, Idina Menzel. The two met in 1993 while starring in Rent, married in 2003 and welcomed their son in 2009. They separated in 2013 and finalized their divorce the following year. Menzel has since remarried fellow Rent alum Aaron Lohr.

Over the years, Diggs and Menzel have spoken about their commitment to co-parenting.

In July, Taye Diggs told the Today show that Menzel leads the way when it comes to raising their son.

“She’s driving. She’s the driver of the bus,” Taye said. “So I respect that. And it’s worked out pretty OK so far. So, if it ain’t broke, I’m not trying to fix a beautiful thing.”

“We both love Walker so much that it only works if we think about him first and when we put him first,” he added. “We can’t help but kind of respect each other and what we’re all bringing.”

Idina Menzel echoed the same sentiment earlier this year during her own Today show appearance.

“We really don’t believe in putting a child in the middle of anything and forcing them to have to choose in any way,” she explained. “And we never speak poorly of the other. I’m really proud of us for putting him first.”