U.S. Health and Human Services Secretary Robert F. Kennedy Jr. said this week that several of the nation’s largest health insurers have agreed to change how they handle prior authorization, a system that often causes delays in care.

Months after the killing of a top health insurance executive unleashed Americans’ pent-up anger over denials of medical care, the industry announced Monday that it will take action to “streamline, simplify and reduce” the preapproval process.

A coalition of health insurance companies is vowing to make changes to the prior authorization process, after years of patients and providers’ complaints over a system they say delays care and endangers people’s health.