The Denver Broncos agreed to terms with Rick Dennison to be their offensive coordinator on Monday.

Dennison is a 20-year NFL coaching veteran with 15 years of experience with the Broncos, including three seasons (2006-08) as Denver’s offensive coordinator.

A linebacker for the Broncos from 1982-90, Dennison began his coaching tenure with the club in 1995 and held various roles with the team, including offensive assistant (1995-96), special teams coordinator (1997-2000) and offensive line coach (2001-05, 2009) in addition to his three years as offensive coordinator.

Dennison spent four years (2010-13) as new head coach Gary Kubiak’s offensive coordinator in Houston before being hired in Baltimore last season to coach the team’s quarterbacks.

Ravens quarterback Joe Flacco established career highs in passing yards (3,986) and touchdown passes (27) in his lone season under Dennison’s guidance in 2014 while being sacked just 19 times — 29 fewer than the previous season.

Dennison’s first stint as an NFL offensive coordinator came with the Broncos from 2006-08 after Kubiak left Denver to become head coach of the Texans.