I'm going to be really cliched and say that if you enjoyed ATCQ then you'll probably enjoy
Blackstar.
Most people who like them also like
Common. His
newer stuff has actually remained consistent as well.
Blu and Exile had a really good, easily accessible album out a little while ago as well.
Atmosphere are awesome when you're in the mood for them.
Lots of people I know really dig
Jurassic 5. They've got a pretty old school, boom bap sort of vibe and they're all pretty good artists.
Lastly
Cage is one of my favourite rappers and he has really great lyrics. He used to be pretty off kilter but he calmed down a fair bit on his last album and wrote a lot of introspective stuff and it turned out fantastic. There's some pretty chilling songs on there as well as some stuff that's a bit reflective and so on.
I didn't really go far outside the box with recommendations but I figure that's a decent spread of fairly light stuff! Afura's recommendations are pretty close to exactly what I would've done and all those artists are very good.
Terrible rappers are a dime a dozen nowadays, but I will make special mention of Lil Wayne who's an average emcee with an interesting style and somehow has everyone claiming he's the best of all time. If you listen to him and are very disappointed don't be surprised.