I can't turn off virtual keyboard

I have a MacBook Pro. Recently, I've run into a problem. Whenever I press the esc key, a virtual keyboard pops up. It has a close button, but if I type any other key after that it'll popup again. After closing it several more times, it will stop appearing, but if I press the esc key again, it'll popup again, and I'll have the same problem. It's not the accessibility keyboard, because I've turned that off. If I turn the accessibility keyboard on when I have the other virtual keyboard on screen, I'll just get two different keyboards. I can't find any info on this online and it's getting really annoying. Does anyone know how to turn it off? I've included a picture of the accessibility keyboard(top) vs the one that pops up when I type.(bottom)