Bullitt County Sheriff Donnie Tinnell said Johnson shot himself on a bridge in Mount Washington, Kentucky. Tinnell confirmed the death to WDRB-TV in Louisville.
Johnson was elected to the state legislature in 2016, part of a wave of Republican victories that gave the GOP control of the Kentucky House of Representatives for the first time in nearly 100 years. He won his election despite Republican leaders urging him to drop out of the race after some of his racist Facebook posts came to light.
But he was mostly out of the spotlight until Monday, when the Kentucky Centre for Investigative Reporting published an account from a woman saying Johnson sexually assaulted her in the basement of his home in 2013.
At the time, the woman told police about the incident, who investigated but closed the case and did not file charges.
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On Tuesday, Johnson held a news conference in the pulpit of his church, which he began by leading friends and family in singing a portion of the Christmas carol "O Come All Ye Faithful."
Shortly before 5 pm (local time), Johnson posted a message on his Facebook page that he asked people to care for his wife. He wrote that PTSD "is a sickness that will take my life, I cannot handle it any longer. It has won this life, BUT HEAVEN IS MY HOME." The post appears to have been removed.
The sexual assault accusations against Johnson were revealed as a sexual harassment scandal involving four other Republican lawmakers was unfolding at the state Capitol.
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