In addition to his mother, Stephen is survived by wife Allison Holker and kids Weslie, 14, Maddox, 6, and Zaia, 3.
In the wake of his death, Allison remembered her late husband as “the backbone of our family, the best husband and father, and an inspiration to his fans.”
“Stephen lit up every room he stepped into,” she said in a statement to E! News at the time. “He valued family, friends and community above all else and leading with love and light was everything to him.”
Allison added, “To say he left a legacy would be an understatement, and his positive impact will continue to be felt. I am certain there won’t be a day that goes by that we won’t honor his memory.”