“Forgotten” AirPods won’t connect to iPhone

Only one of my AirPods was connecting to my iPhone 11, so I went to settings and forgot the device. However, when I try to reconnect them, the setup button seems unresponsive. The status light stays at a steady green no matter what I do. The AirPods are fully charged, my software is up to date, and I’ve tried restarting my phone and hitting the button for 15 seconds at a time. Any other tips?