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The British actress also starred onstage as Medea and was married to actor Damian Lewis.
She played a headstrong daughter in the 1970s TV series and later published a frank memoir about her battle with bipolar disorder.
Mr. Davis, who died of complications from covid-19, wrote a two-hander that became a staple of community theater after premiering on Broadway in 1981.
He was “a Fred Astaire or Gene Kelly of street,” dancer and singer Toni Basil said.
His breakthrough, "When You Comin Back, Red Ryder?," opened Off-Broadway in 1973 and centered on a Vietnam War veteran who holds a New Mexico diner hostage.