MIAMI -- Dion Waiters scored 23 points and the Miami Heat beat the Milwaukee Bucks 96-73 on Thursday night to end a six-game losing streak.

Josh Richardson added 18 points, and Hassan Whiteside had 12 points, 17 rebounds, and eight blocks. The losing streak was the Heat's longest since 2008.

Point guard Goran Dragic returned for the Heat after missing three games with a sprained left ankle. He had 16 points in 36 minutes.

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Giannis Antetokounmpo and Tony Snell each had 14 points for Milwaukee. The Bucks have lost four of five.

Richardson hit a corner 3, Whiteside blocked a lay-up attempt by Antetokounmpo, and Dragic hit a 3 in a flurry of big plays to give Miami an 80-69 lead with 7 minutes left. The Heat held on the rest of the way, with a 3 by Waiters making it 88-73 with 3:31 left.

Miami outscored Milwaukee 29-11 in the fourth quarter.