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With three seconds left to play Sunday, it looked like the Detroit Lions were going to shock the Baltimore Ravens. Then Justin Tucker did the impossible. 

On the final play of the game, the Ravens' kicker broke the NFL record for longest field goal by hitting a 66-yarder that made it through the uprights by about two centimeters. The dramatic kick was the perfect way to end a dramatic game. The kick gave the heavily-favored Ravens a 19-17 win. 

Tucker's dramatic kick actually hit off the crossbar, and after that happened, it wasn't clear to people watching at home if the field goal had made it. The two officials standing in the end zone looked at each other for a few seconds before declaring the kick good, which set off a wild celebration on Baltimore's sideline.  

Here's a look at Tucker's record-setting kick: 

The field goal capped a dramatic final minute for the Ravens. 

After watching the Lions take the lead with 1:07 left on a Ryan Santoso field goal, the Ravens got the ball back at their own 25-yard line with no timeouts. After failing on their first three plays, the Ravens converted a dramatic 4th-and-19 when Lamar Jackson hit Sammy Watkins for a 36-yard gain. The long play set the Ravens up at Detroit's 48-yard line, which set the stage for Tucker's magic. 

The 66-yard kick broke the previous NFL record, which had been held by Matt Prater. The current Cardinals kicker hit his record-setting 64-yard field goal while playing for the Broncos back in 2013. Prater and Tucker are now the only two kickers in NFL history with a field goal of 64 yards or more. 

Tucker's kick marked just the 22nd time in history that a team has attempted a field goal of 66 yards or more. Before Sunday, NFL kickers had combined to go 0-for-21 on the previous attempts. 

The game-winning field goal from Tucker was his fourth of the game. Before hitting from 66, Tucker also hit from 32, 39 and 50. It also marked the second time in his career that Tucker has hit a field goal of 60 or more yards to beat the Lions. Back in 2013, Tucker hit a 61-yard kick on the final play of the game to give the Ravens an 18-16 win over Detroit.

The Ravens are loaded again. Is this the year Lamar Jackson wins it all? For breaking news, analysis and player insights, download the CBS Sports app right now. Favorite the Ravens now if you already have the app.