AirPods Pro connect on bluetooth, but no sound

My AirPods Pro connect to my phone, but they stopped playing sound. I tried the music app and the audible app, no luck. I reset them twice as per the instructions on the apple support site - I even removed them from my apple ID, though these AirPods have only ever worked on my current phone. The resets seemed to work - but still no sound.

The AirPods and case are fully charged.

Is there a harder reset I can do?