2023
Rustin as A. J. Muste
2022
The Andy Warhol Diaries as Andy Warhol (6 episodes)
2022
The Dropout as Channing Robertson (4 episodes)
2022
The Gilded Age as Cornelius Eckhard (1 episode)
2021
Lust Life Love as Richard
2020
Irresistible as Elton Chambers
2019
Sesame Street's 50th Anniversary Celebration as Mr. Noodle
2019
It Takes a Lunatic as Self
2018
The Great Buster: A Celebration as Self
2018
New Amsterdam as Calvin Bennett (3 episodes)
2017
Star Trek: Discovery as Su'Kal (3 episodes)
2017
Legion as Cary Loudermilk (27 episodes)
2016
Circus Kid as Himself
2016
This Is Us as Dr. Spencer (1 episode)
2016
This Is Us as ER Doctor (1 episode)
2016
Quarry as Harlowe (1 episode)
2016
Confirmation as Senator Jack Danforth
2015
South of Hell as Enos Abascal (8 episodes)
2015
Sesame Street: Play All Day with Elmo! as Mr. Noodle
2015
Ricki and the Flash as Single Dad
2015
Show Boat as Cap'n Andy Hawks
2015
Identity Theft as Mark
2014
Interstellar as TARS (voice)
2013
Sleepy Hollow as Atticus Nevins (4 episodes)
2013
Monday Mornings as Dr. Buck Tierney (10 episodes)
2012
Elementary as Richard Balsille (1 episode)
2012
Never Stand Still as Himself
2011
Higher Ground as Pastor Bud
2011
Sesame Street: Elmo's World: Penguins and Friends as Voice
2011
Lights Out as Hal Brennan (13 episodes)
2010
Blue Bloods as Cardinal Brennan (2 episodes)
2010
Goldstar, Ohio as Chief Jeff 'Goob' Garver
2010
Sesame Street: 40 Years of Sunny Days as Mr. Noodle (uncredited) (archive footage)
2009
The Good Wife as Fred Medkiff (1 episode)
2008
Life on Mars as Dr. Schwahn (1 episode)
2008
Rachel Getting Married as Paul Buchman
2007
Across the Universe as Uncle Teddy
2007
Sesame Street: Elmo's World: What Makes You Happy? as Mr. Noodle
2006
Lady in the Water as Mr. Leeds
2006
Sesame Street: Elmo's World: Reach for the Sky! as Mr Noodle
2004
The Manchurian Candidate as Scoutmaster
2004
Sesame Street: Elmo's World: Families, Mail & Bath Time! as Mr. Noodle
2003
Charlie: The Life and Art of Charles Chaplin as Self
2002
Igby Goes Down as Lt. Smith
2001
Law & Order: Criminal Intent as Nate Royce (1 episode)
2000
How the Grinch Stole Christmas as Lou Lou Who
2000
CSI: Crime Scene Investigation as Nate Haskell (9 episodes)
1999
Law & Order: Special Victims Unit as Dr. Peter Lindstrom (16 episodes)
1999
A Midsummer Night's Dream as Tom Snout
1999
Niagara: A History of the Falls as Self - Historian
1998
Just the Ticket as Ray Charles
1998
Waiting for Godot in San Quentin as Himself
1997
Subway Stories as Bill Irwin (segment "Subway Car from Hell")
1996
3rd Rock from the Sun as Pickles (1 episode)
1993
Sister Act 2: Back in the Habit as Unnamed Brother #1
1993
The Adventures of Pete & Pete (1 episode)
1993
Silent Tongue as Comic
1992
The Last Mile as The Maestro
1992
Sondheim: A Celebration at Carnegie Hall as Self
1991
Stepping Out as Geoffrey
1991
Hot Shots! as Buzz Harley
1991
Scenes from a Mall as Mime
1991
Memorial: Letters from American Soldiers as Reader
1990
Red Hot + Blue: A Tribute to Cole Porter as Self
1990
Law & Order as Ellison Conway (1 episode)
1990
My Blue Heaven as Kirby
1988
Eight Men Out as Eddie Collins
1984
The Cosby Show as Eddie Bartholomew (1 episode)
1983
The Regard of Flight
1975
Saturday Night Live as Self - Cameo (uncredited) (1 episode)