"Atlantis" debuted on the Sci-Fi Channel on July 16, 2004, starring Joe Flanigan and Torri Higginson in the lead roles, with Rainbow Sun Francks, David Hewlett, and Rachel Luttrell alongside. Hewlett and Higginson's characters had previously appeared in "SG-1" (though Higginson inherited the role from actress Jessica Steen). In "Atlantis"' second season, Paul McGillion and Jason Momoa (replacing Francks) were added as regulars. At the end of the third season, Higginson and McGillion were removed as regulars, both serving recurring roles in the 4th season. Season 4 brought in Amanda Tapping, reprising her role as Samantha Carter from SG-1, and Jewel Staite in a recurring role. Tapping left the show for season five to concentrate on "Sanctuary", and was replaced by Robert Picardo, who reprised his role as Richard Woolsey from both "SG-1" and "Atlantis". However, in late summer 2008 it was announced that SciFi would not renew "Atlantis". The final episode aired on January 9, 2009.