Harley-Davidson said it has engaged an executive search firm to find a replacement for Chief Executive Jochen Zeitz, who the company said Tuesday plans to retire after five years on the job. Harley said it retained the search firm late last year after Zeitz expressed interest in retiring.

Harley-Davidson Inc. Chief Executive Officer Jochen Zeitz plans to step down, wrapping a five-year tenure marked by challenges in the motorcycle market and halting diversity efforts inside the company.