Kline was born in New York City. He was raised in Queens by parents who practiced Reform Judaism. He attended Queens College and has a Master of Fine Arts degree in theater from Northwestern University. After graduation, he joined the United States Army and served in Vietnam during the Vietnam War as a lieutenant.
Kline became involved in theater and made his professional debut in 1971 as part of the Lincoln Center Repertory Company. Regional theater productions during this period included Chemin de Fer (in Chicago with actor Dennis Franz), Death of a Salesman, and Love's Labour's Lost. A classically trained singer, Kline made his Broadway career debut in the 1989 musical City of Angels.
On Three's Company, Kline played Larry Dallas, a playboy neighbor, used car salesman, and best friend to John Ritter's Jack Tripper. Kline appeared in 110 episodes of Three's Company from 1977 to 1984, also appearing as Larry Dallas in the spin-off shows The Ropers (1979) and Three's a Crowd (1985). Larry has the distinction of being the only other character besides Jack Tripper to appear on Three's Company and both of its spin-offs.

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