Kevin Clash, the "Sesame Street" puppeteer who has voiced Elmo since 1985, has taken a leave of absence from the show following allegations of sexual misconduct with a minor, TODAY reports. The 23-year-old accuser alleged that his sexual relationship with Clash began when he was 16. Representatives from Sesame Workshop concluded that the allegations were unsubstantiated, but added that "Kevin exercised poor judgment and violated company policy regarding Internet usage and he was disciplined." In a statement, Clash added, "I had a relationship with the accuser. It was between two consenting adults and I am deeply saddened that he is trying to characterize it as something other than what it was." No date has been set for Clash's return.