Katherine Marie Helmond (July 5, 1929 – February 23, 2019) was an American film, theater, and television actress and director. Over her five decades of television acting, she was known for her starring role as ditzy matriarch Jessica Tate on the sitcom Soap (1977–1981) and her co-starring role as feisty mother Mona Robinson on Who's the Boss? (1984–1992). She also played Doris Sherman on Coach and Lois Whelan (the mother of Debra Barone) on Everybody Loves Raymond. She also appeared as a guest on several talk and variety shows. Helmond had supporting roles in films such as Alfred Hitchcock's Family Plot (1976), Terry Gilliam's Brazil (1985) and Garry Marshall's Overboard (1987). She also voiced Lizzie in the Cars film trilogy by Disney/Pixar between 2006 and 2017.