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

full_context: Document 1: Willie Aames: Willie Aames (born Albert William Upton; July 15, 1960) is an American actor, film and television director, television producer, and screenwriter. He is best known for playing Tommy Bradford on the 1970s television series "Eight Is Enough", Buddy Lembeck on the 1980s series "Charles in Charge" and the title character in the direct-to-video series "Bibleman" (1995–2003).
Document 2: Jamie Elman: Benjamin David "Jamie" Elman (born July 5, 1976) is a Canadian American actor, best known for his leading roles of Cody Miller on YTV's "Student Bodies" and Luke Foley in NBC's "American Dreams".
Document 3: List of Hill Street Blues episodes: "Hill Street Blues" is an American serial police drama that aired on NBC in primetime from 1981 to 1987 for a total of 146 episodes. The show chronicled the lives of the staff of a single police station located on the fictional Hill Street, in an unnamed large city, with "blues" being a slang term for police officers for their blue uniforms. The show received critical acclaim, and its production innovations influenced many subsequent dramatic television series produced in the United States and Canada. Its debut season was rewarded with eight Emmy Awards, a debut season record surpassed only by "The West Wing." The show received a total of 98 Emmy nominations during its run. The series ran for 146 episodes over seven seasons.
Document 4: List of Blue Bloods episodes: "Blue Bloods" is an American police procedural television series created by Robin Green and Mitchell Burgess. It premiered on September 24, 2010 on CBS. The series centers on the Reagans, a family of police officers in New York City. Frank Reagan (Tom Selleck) is the police commissioner with three grown children working in law enforcement: the oldest, Danny (Donnie Wahlberg), a pragmatic detective; Erin (Bridget Moynahan), an assistant district attorney who prosecutes many of the offenders Danny apprehends; and Jamie (Will Estes), a Harvard Law School graduate and a patrol cop in the NYPD. Frank's second son, Joseph, an NYPD detective, was killed in the line of duty while investigating a group of dirty cops nicknamed "The Blue Templar". On March 25, 2016, the series was renewed for a seventh season, premiered on September 23, 2016.
Document 5: 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.
Document 6: Donnie Wahlberg: Donald Edmond Wahlberg Jr. (born August 17, 1969) is an American singer, songwriter, actor, record producer, and film producer. He is a founding member of the boy band New Kids on the Block. Outside of music, he has had roles in the "Saw" films, "The Sixth Sense", "Dreamcatcher", and "Righteous Kill", also appearing in the World War II miniseries "Band of Brothers" as First Lieutenant Carwood Lipton. From 2002 to 2003, he starred in the crime drama "Boomtown". He has been starring in the drama series "Blue Bloods" as Danny Reagan with Tom Selleck (his TV father) and Bridget Moynahan (his TV sister) since 2010, and since 2014 is an executive producer of the TNT reality television show "Boston's Finest". He was nominated for "Choice Scream" at the 2008 Teen Choice Awards for his work in the "Saw" films. He has also produced and starred in "Rock this Boat", "Donnie Loves Jenny" and "Return of the Mac" on Pop TV. He also produces and stars in "Wahlburgers" on A&E TV.
Document 7: 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".
Document 8: John Amos: John Allen Amos Jr. (born December 27, 1939) is an American actor who is best known for his role as James Evans, Sr. on the CBS television series "Good Times" (1974–76). Amos' other television work includes roles in "The Mary Tyler Moore Show", the miniseries "Roots", for which he received an Emmy nomination, and a recurring role as Admiral Percy Fitzwallace on "The West Wing". Amos also played the father of Will Smith's character's girlfriend, Lisa Wilkes, in "The Fresh Prince of Bel-Air", and he had a recurring role on "In the House" with LL Cool J, as Coach Sam Wilson. Amos played the Father of Tommy Strawn (Thomas Mikal Ford) on the long running sitcom, "Martin", as Sgt. Strawn, and another recurring role on "Two and a Half Men" as Chelsea's dad's new lover, Edward Boynton. Amos also played Major Grant, the US Special forces officer in "Die Hard 2". Amos has also appeared on Broadway and in numerous films in a career that spans four decades. He has received nominations for a Primetime Emmy Award and NAACP Image Award.
Document 9: Blue Bloods (season 5): The fifth season of "Blue Bloods", a police procedural drama series created by Robin Green and Mitchell Burgess, premiered on CBS on September 26, 2014 and concluded on May 1, 2015. Leonard Goldberg serves as executive producer. CBS had renewed the series for a fifth season on March 13, 2014, with a 22-episode order. The series aired its 100th episode ("Baggage") during the fifth season.
Document 10: Eric McCormack: Eric James McCormack (born April 18, 1963) is a Canadian-American actor known for his role as Will Truman in the American sitcom "Will & Grace" and Dr. Daniel Pierce in the American crime drama "Perception".
Document 11: List of HolbyBlue episodes: "HolbyBlue" is a British police procedural television series that aired between 8 May 2007 and 5 June 2008 on BBC One. The programme was created by Tony Jordan as a spin-off from the established BBC medical drama "Holby City", which in turn is a spin-off from the medical drama "Casualty". All three programmes are set in the fictional city of Holby. "HolbyBlue" follows the professional and personal lives of police staff at Holby South police station. The show ran for two series, the first of which was eight episodes long. The second series was twelve episodes long, and began with a "Holby City" crossover episode. In August 2008, it was announced that the show had been axed by the BBC and would not be returning for a third series. The first series aired on Tuesday nights at 8 pm, in the regular "Holby City" timeslot. "Holby City" was moved to Thursdays for the duration of "HolbyBlue"'s run. The show moved to Thursday nights for the second season.
Document 12: Will Truman: William "Will" Truman is a fictional character on the American sitcom "Will & Grace", portrayed by Eric McCormack. He is a lawyer who lives in the Upper West Side of New York City with his best friend, Grace Adler. The series also portrays his relationship with the two other main characters, Karen Walker (Megan Mullally) and Jack McFarland (Sean Hayes).
Document 13: Hill Street Blues: Hill Street Blues is an American serial police drama that aired on NBC in primetime from 1981 to 1987 for a total of 146 episodes. The show chronicled the lives of the staff of a single police station located on the fictional Hill Street, in an unnamed large city, with "blues" being a slang term for police officers for their blue uniforms. The show received critical acclaim, and its production innovations influenced many subsequent dramatic television series produced in the United States and Canada. Its debut season was rewarded with eight Emmy Awards, a debut season record surpassed only by "The West Wing." The show received a total of 98 Emmy nominations during its run.
Document 14: Tom Selleck: Thomas William Selleck (born January 29, 1945) is an American actor and film producer. He is known for starring as private investigator Thomas Magnum in the television series "Magnum, P.I." (1980–1988). He also plays Police Chief Jesse Stone in a series of made-for-TV movies based on Robert B. Parker novels. Since 2010, he has also been a primary cast member as NYPD Commissioner Frank Reagan in the drama "Blue Bloods" on CBS.
Document 15: Hawaii Five-0 (2010 TV series): Hawaii Five-0 is an American action police procedural television series, which premiered on Monday, September 20, 2010 on CBS. The series is a reboot of the original series, which aired on CBS from 1968 to 1980. Like the original, it follows an elite state police task force set up to fight crime in the state of Hawaii. The series is produced by K/O Paper Products and 101st Street Television in association with CBS Productions, originally an in-name-only unit of but folded into CBS Television Studios, which has produced the series since the beginning of season three. On March 25, 2016, CBS renewed the series for a seventh season, which premiered on September 23, 2016. On March 23, 2017, CBS renewed the series for an eighth season, which premiered on September 29, 2017.
ground_truth: September 24, 2010