The Baltimore Ravens hired former Houston Texans coach Gary Kubiak as offensive coordinator, the team announced during a press conference on Monday.

The Ravens also hired Rick Dennison as quarterbacks coach. Dennison was Kubiak's offensive coordinator with the Texans.

"Gary Kubiak was on the list from the beginning," coach John Harbaugh said. "It became apparent this had a chance to be a fit for both coaches and the Ravens."

Kubiak wanted to bring Dennison with him to Baltimore before he was hired. They both met with the Ravens in Baltimore on Sunday.

"It gives me a chance to be part of a championship organization," Kubiak said.

Kubiak replaces Jim Caldwell, who was recently hired by the Detroit Lions as their head coach.

Kubiak was fired by the Texans in December. Houston ended up a league-worst 2-14.

Baltimore ranked 29th in the NFL in total offense and 25th in scoring. The Ravens also averaged a franchise-worst 3.1 yards per carry and quarterback Joe Flacco threw a career-high 22 interceptions.

The Ravens missed the playoffs a year after winning the Super Bowl.

Kubiak, 52, went 61-64 in nearly eight seasons with the Texans. Before coming to Houston, he was the Denver Broncos' offensive coordinator under coach Mike Shanahan for a decade.

Former Washington Redskins offensive coordinator Kyle Shanahan, Ravens wide receivers coach Jim Hostler, former Lions offensive coordinator Scott Linehan and Pittsburgh Steelers running backs coach Kirby Wilson were also candidates.