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From its humble beginnings in Brooklyn and the Bronx during the 1970s—when kids still in high school started to scrawl their signature tags on buildings and subway art in cars with spray-paint and markers—street art has grown to become a world-wide phenomenon, garnering museum exposure and corporate sponsorship. But its mainstream acceptance hasn’t diminished its visual energy, or divorced it from its origins as an outlaw activity. Street art has also grown in complexity and sophistication through the decades, moving beyond a simple marking a place with a name to political themes and cultural commentary. To see how the form has evolved over time, check out our list of the best street artists ever—from old-school pioneers to today’s leading lights.