Question: When did the police procedural series starring William Estes debut?

Context paragraphs:
Blue Bloods (TV series): Blue Bloods is an American police procedural drama series that airs on CBS.  The series is filmed on location in New York City with occasional references to nearby suburbs.  The series debuted on September 24, 2010, with episodes airing on Fridays following "" before being moved to Wednesdays at 10:00 p.m. Eastern and Pacific time and 9:00 p.m. Central and Mountain time for a four-week tryout.  After four weeks, it returned to its original Friday 10:00 p.m. Eastern time slot, where it has remained since.  On March 23, 2017, CBS renewed the series for an eighth season.  The season premiered on September 29, 2017.

A Touch of Cloth: A Touch of Cloth is a British television comedy police procedural series created and written by Charlie Brooker and Daniel Maier.  It is a parody of British detective and crime dramas, and stars John Hannah as title character Jack Cloth, a police detective with personal issues, and Suranne Jones as Anne Oldman, his colleague.  The title is a play on the title of another detective series, "A Touch of Frost", as well as the British euphemism "to touch cloth".  To date there have been three series.  The first series was released on DVD in the UK on September 3, 2012.  Both the second and third series were released on September 1, 2014.

C.L.I.F. 4: C.L.I.F. 4 (Chinese: 警徽天职4, short-form for Courage, Loyalty, Integrity, Fairness, commonly pronounced as cliff) is a Singaporean police procedural series produced and telecast on Mediacorp Channel 8 in collaboration with the Singapore Police Force.  The fourth installment to "C.L.I.F." in 2011, the series will begin its run from 6 September 2016.  The series stars Li Nanxing, Rui En, Elvin Ng, Zhang Yaodong, Sora Ma, Ya Hui, Chen Meixin and Yusuke Fukuchi as the main characters of the series.  The casts of the last sequel were Qi Yuwu , Joanne Peh & Tracy Lee were removed from this sequel.  It is the sequel to C.L.I.F. 3.  The series is co-sponsored by Sheng Siong Supermarkets and Soon Bee Huat.  This is also the first C.L.I.F. series to feature a VSC police officer.It is shown on weekdays at 9pm.

C.L.I.F. 2: C.L.I.F. 2 ("Courage, Loyalty, Integrity, Fairness", or 警徽天职2) was a police procedural series produced by MediaCorp Singapore in 2012 in collaboration with the Singapore Police Force.  It was broadcast from 18 February to 15 March 2013 on free-to-air MediaCorp Channel 8 and consists of 20 episodes.  The series stars from the first season, with new additions Li Nanxing, Rui En, Thomas Ong, Cavin Soh and Pierre Png as the main characters of the series.  The series is co-sponsored by Gain City, Sheng Siong Supermarkets and Gold Roast Coffee.  The sequel for C.L.I.F.

C.L.I.F. 3: C.L.I.F. 3 ("Courage, Loyalty, Integrity, Fairness", or 警徽天职3) was a police procedural series produced by MediaCorp Singapore in 2014 in collaboration with the Singapore Police Force, following off from "C.L.I.F. 2".  It was broadcast from 9 April to 13 May 2014 on free-to-air MediaCorp Channel 8 and consists of 25 episodes.  The series stars casts from the second season, with Elvin Ng and Tracy Lee returning from the first season as the main characters of the series.The casts of the last sequel were Pierre Png, Thomas Ong , Andie Chen & Aileen Tan we're removed from the sequel.  The series is co-sponsored by Gain City, Sheng Siong Supermarkets and Gold Roast Coffee.The sequel from C.L.I.F. 2. It is shown on weekdays at 9pm.  It was the second highest-rated drama series of 2014, only losing out to "Three Wishes" in October 2014, which was produced by Wawa Pictures and starred Huang Biren.

C.L.I.F.: C.L.I.F. ("Courage, Loyalty, Integrity, Fairness", or 警徽天职, commonly pronounced as cliff) is a police procedural series produced by MediaCorp Singapore in 2011 in collaboration with the Singapore Police Force.  It was aired from 31 May - 27 Jun 2011 on free-to-air MediaCorp Channel 8 and consists of 20 episodes.  The drama stars Tay Ping Hui, Qi Yuwu, Elvin Ng, Joanne Peh, Chris Tong and Tracy Lee in the main roles with a large ensemble supporting cast.  It was directed by Chong Liung Man, who previously directed another award-winning police procedural "C.I.D.", which also starred Tay and Qi in the lead roles as police officers.

Major Crimes: Major Crimes is an American television police procedural series starring Mary McDonnell.  It is a successor spin-off of "The Closer" and premiered on TNT August 13, 2012, following that show's finale.

Will Estes: William "Will" Estes (born October 21, 1978) is an American actor known for his role on CBS police drama "Blue Bloods" as Jamison "Jamie" Reagan, a New York Police Department officer and the younger son of the police commissioner, played by Tom Selleck.  Previously, he starred as J.J. Pryor, on the NBC drama "American Dreams".

Monk (TV series): Monk is an American comedy-drama detective mystery television series created by Andy Breckman and starring Tony Shalhoub as the eponymous character, Adrian Monk.  It originally ran from 2002 to 2009 and is primarily a police procedural series, and also exhibits comic and dramatic tones in its exploration of the main characters' personal lives.  The series was produced by Mandeville Films and Touchstone Television in association with Universal Television.

The Rookies: The Rookies is an American police procedural series that aired on ABC from 1972 until 1976.  It follows the exploits of three rookie police officers working in an unidentified city for the fictitious Southern California Police Department (SCPD).

Supporting paragraphs: Will Estes Blue Bloods (TV series)
Answer: September 24, 2010