What's this movie featuring robin williams?

Robin Williams characters, two kids die in a car accident. Two years after this,his character dies in a hit and run accident. Unable to bear the loss of her family, two years later, his character's wife commits suicide. He and his children are in heaven enjoying life because they died naturally, and they saw the actions of their loved one, so william's character knew his wife would go to hell for taking her own life. So he goes to hell to save her, and succeeds. Then the pair decide to live on earth again, but their kids decide to remain in heaven.

Any idea on what this movie is called, and what year it came out? Thanks.