iPhone keeps forgetting airpods as a device

I have had my AirPods for about 5 months and just started experiencing problems today. I connected my airpods to my laptop so I could watch a video, and although they were connected the sound was playing through the speakers and not the airpods. I disconnected and reconnected several times. I settled for watching the video on my phone, but the problem was the same. I tried disconnecting my phone and reconnecting. After reconnecting once, I closed the case and reopened it—and the airpod screen popped up and gave me the option to connect as if they were not my airpods. Now, everytime I open the case, a window opens that says either “Airpods: you can temporarily connect airpods to this phone to share audio” or the Not Your Airpods window. I will connect, and only the R airpod will play audio, but as soon as I close the case and open it again, the same window pops up. My airpods won’t stay permanently connected or even remembered by my phone for any longer than it takes to close the case.