In a statement released Wednesday, Washoe County District Attorney Chris Hicks says deputies and Nevada Highway Patrol troopers "faced imminent danger of death or serious bodily harm on multiple occasions," leaving them no choice but to shoot 29-year-old Kyle Zimbelman in August 2016.

Authorities say Zimbelman was wanted on a felony warrant, and he was driving the truck that police attempted to pull over. Police vehicles eventually pinned the truck, and officers attempted to apprehend him.

Authorities say Zimbelman then drove the truck into a deputy and officers opened fire. Zimbelman then shot at police until he ran out of bullets and was struck.