McDonald's chief executive officer has left the company after violating company policy by engaging in a consensual relationship with an employee, the corporation said Sunday.

The fast food giant said former president and CEO Steve Easterbrook demonstrated poor judgment. McDonald's forbids managers from having romantic relationships with direct or indirect reports.

In an email to employees, Easterbrook acknowledged he had a relationship with an employee and said it was a mistake.

"Given the values of the company, I agree with the board that it is time for me to move on," Easterbrook said in the email.

McDonald's board of directors voted on Easterbrook's departure Friday after conducting a thorough review. Details of Easterbrook's separation package will be released Monday in a federal filing, according to a company spokesperson. Easterbrook was CEO since 2015.