WLNS.com reports that Grant Taylor, the now 24-year-old man that purposely struck and killed Lansing Firefighter Dennis Rodeman, has been sentenced to 30-40 years in prison by Ingham County Circuit Court Judge Clinton Canady III.

According to the report, the courtroom was filled with local first responders, firefighters union representatives, family, and a spokesperson for Rodeman's widow, Kate.

Taylor had previously entered a plea of guilty but mentally ill in the road rage incident. Taylor argued with Rodeman in September of 2015 while the firefighter was collecting donations along Cedar Street near Jolly Road. Rodeman turned his truck around after the verbal exchange, and purposely struck Rodeman at a high rate of speed.