Einstein's theory of general relativity from 1915 predicted the possibility of black holes, but they were not believed to exist until convincing evidence was found in the 1970s. Black holes are incredibly dense regions formed after massive stars collapse, where gravity is so strong that not even light can escape. They can be stellar-mass, supermassive, or mid-mass depending on their origin and size, with supermassive black holes found at the centers of many galaxies including the Milky Way.