While the idea that the Earth revolves around the Sun (heliocentric model) wasn't new, the first person to formulate a comprehensive and detailed heliocentric model based on mathematical and observational evidence was Nicolaus Copernicus.

He published his groundbreaking work, "De Revolutionibus Orbium Coelestium" (On the Revolutions of the Heavenly Spheres) in 1543, shortly before his death. While he wasn't the first to suggest the idea, his work provided the framework and scientific backing that ultimately led to the acceptance of the heliocentric model.

It's important to note that earlier individuals, such as Aristarchus of Samos in the 3rd century BC, had proposed the heliocentric model. However, their ideas were not widely accepted or developed into a complete theory.