Comedian Robin Williams’ second wife, whom he met when she was his nanny, has filed for divorce citing irreconcilable differences, court documents showed on Wednesday.

Marsha Garces Williams filed her petition in a San Francisco court late last week. The couple has been separated since December 31, and she is requesting joint custody of their 16-year-old son, Cody, according to the filing.

The couple have been married since 1989 and have two children( Zelda, 18 and Cody 16). They first met when she took care of Williams’ son with his previous wife, Valerie Valardi.

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