D’Angelo, the singer, songwriter and multi-instrumentalist who became one of the defining voices of neo-soul and reshaped contemporary R&B with a sound steeped in gospel, funk and hip-hop, died after a private battle with pancreatic cancer. He was 51.

Born Michael Eugene Archer on Feb. 11, 1974, in Richmond, Va., D’Angelo grew up in a deeply religious household and began playing piano as a child in his father’s Pentecostal church. By his teens, he was writing music and performing locally, eventually moving to New York City to pursue a career in the industry.

His debut album, Brown Sugar (1995), helped define a burgeoning movement later dubbed neo-soul, which fused traditional soul arrangements with jazz and hip-hop influences. With hits like “Lady” and the title track, the album sold over two million copies in the United States and made D’Angelo a critical and commercial success.

His follow-up, Voodoo (2000), solidified his reputation as an innovator. Recorded with members of The Soulquarians, including Questlove and J Dilla, it was praised for its dense instrumentation and loose, live sound. The album earned D’Angelo a Grammy Award for Best R&B Album, and its single “Untitled (How Does It Feel)” won Best Male R&B Vocal Performance.

The intense fame surrounding Voodoo, including the sexualized reception of its “Untitled” video, prompted D’Angelo to withdraw from the spotlight for more than a decade. He re-emerged in 2014 with Black Messiah, a politically charged record that was widely acclaimed and won another Grammy for Best R&B Album. Released in the wake of protests in Ferguson, Mo., the album reflected a shift in his songwriting toward overt social commentary.

Despite releasing only three studio albums, D’Angelo was widely considered one of the most influential artists of his generation, cited by performers including Frank Ocean, Anderson .Paak and H.E.R. for his meticulous musicianship and uncompromising artistry.

D'Angelo is survived by his three children, Michael, Imani and Morroco Archer.