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Who proved the heliocentric model of the solar system?

I know Copernicus first put forward the idea, and Galileo helped with his findings, but they both died before the heliocentric model was commonly accepted. So who was it and how did they do it? I will select the answer with the most detail.

Copernicus theorized it, but Galileo really proved it. He used a telescope and first found Jupiter and the Galilean (they're named after him) moons orbiting it. He then looked at the planets and plotted their courses from a geocentric viewpoint. He saw the planets would be going in very complex and illogical patterns, so he thought that the planets orbited the Sun, like the Galilean moons that orbit Jupiter. He published a book before the Church could stop him and people started to believe him.

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