Hello christinehbean,
Be sure to first ensure the AirPods are fully charged, and then check for any iOS updates, as well as updates for the firmware of the AirPods. This helps to ensure the latest improvements and fixes are applied for the device and AirPods.
Info on updating iOS can be found here if needed: Update your iPhone or iPad - Apple Support
For AirPods firmware this page will have info on that, including the latest version available to each model: About firmware updates for AirPods - Apple Support
It can also be beneficial to try the issue with one AirPod at a time, as that'll help to see if the issue is specific to one of them, or if they both experience the issue.
Resetting the AirPods is a step that may also help with some issues, such as this one. This page has steps for that: How to reset your AirPods and AirPods Pro - Apple Support
1. Put your AirPods in their charging case, and close the lid.
2. Wait 30 seconds.
3. Open the lid of your charging case, and put your AirPods in your ears.
4. Go to Settings > Bluetooth. Or go to Settings > [your AirPods].
• If your AirPods appear there as connected, tap the More Info button
next to your AirPods, tap Forget This Device, then tap again to confirm.
• If your AirPods don't appear there, continue to the next step.
5. Put your AirPods in their charging case, and keep the lid open.
6. Press and hold the setup button on the back of the case for about 15 seconds, until the status light on the front of the case flashes amber, then white.*
7. Reconnect your AirPods: With your AirPods in their charging case and the lid open, place your AirPods close to your iPhone or iPad. Follow the steps on your device's screen.
Cheers.