He wrote one of the iconic episodes of Star Trek, "The Naked Time" and was given a story credit for its sequel, TNG's "The Naked Now". He had story credit for the episode "Justice" under the pseudonym Ralph Wills.
He also wrote for many other shows including The Mary Tyler Moore Show, Charlie's Angels, Hawaii Five-O, The Fugitive, Mission: Impossible, Mannix and many others. He also co-wrote the film adaptation of Shaft with Ernest Tidyman (Tidyman had written the novel).
In 1972 he was given an Edgar Award in the category Best Television Feature or Miniseries Teleplay for writing the television movie Thief. He was also executive producer of the 1972 detective film 'Trouble Man starring Robert Hooks and scored by Marvin Gaye.