Robert M. Wilson, the president and chief executive of Cambridge Savings Bank, will resign from the Massachusetts company after having taken a medical leave earlier this year.

Wilson will continue to serve as a board member, the $2.3 billion-asset company said Wednesday. The board has formed a succession committee to find a replacement. Wilson's resignation takes effect Dec. 31.

Kevin J. Fitzgerald, a former chairman of the bank, has served as acting president and CEO since June.

Wilson has served as president and CEO of Cambridge Financial Group and Cambridge Savings Bank for more than four years. He joined Cambridge in 1995 as an executive vice president and was named president and chief operating officer a decade later.

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