Infiniti did not offer a mid-luxury sedan to match the first Japanese luxury sedan introduced to North America, the Acura Legend, which was later joined by the Lexus GS. Infiniti's first offering in the entry-level luxury segment was the Infiniti J30, which had to compete with the revised 1992 Lexus ES and was unsuccessful owing to its small interior and unusual styling to which it was succeeded in 1996 by the Infiniti I series introduced previously in April 1995, related to the Nissan Maxima and in 2002 by the Infiniti G35.