Lauren Graham and Peter Krause are going their separate ways.
The Gilmore Girls alum's rep confirmed the breakup news to PEOPLE exclusively, noting that Graham, 55, and Krause, 56, "quietly ended their relationship last year."
The two actors first met in 1995. However, their relationship didn't become romantic until nearly two decades later when they co-starred as siblings Adam and Sarah Braverman on Parenthood from 2010 to 2015.
Although Graham and Krause only graced a few red carpets together and preferred to keep their relationship out of the public eye, they both had been vocal about one another during interviews and talk show appearances.
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Graham opened up during a 2010 interview with Redbook about working with Krause.
"One of the things that's been so fun is that it's so easy," she said, "It's a lot, to work with somebody and spend time with them, too."
Graham also opened up about the beginning stages of their romance in the interview.
"Nobody knew about it for a while because we like to be at home, cooking and not going out," she told the publication. "I've also been really protective of it because it's important that you can buy us as brother and sister on the show."
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The former couple made their first red carpet appearance in November 2010, right after going public with their romance. Krause and Graham attended the Saban Free Clinic's 34th annual dinner gala at The Beverly Hilton hotel.
In the photos, Krause could be seen smiling at Graham on the red carpet as they posed for photos together.
In 2014, Graham was apprehensive when asked about her future plans with Krause at the Ellen DeGeneres Show.
"I never know how to answer this question," the actress replied. "I don't know. We're really happy," she continued. "I feel like close to five years in Hollywood is like, 'Aren't we married already really?'" She concluded, "It's good the way it is."
In addition, in 2016, Krause made a surprise cameo as a park ranger on Netflix's Gilmore Girls revival, titled Gilmore Girls: A Year in the Life, in which Graham reprised her iconic role as Lorelai Gilmore.