Airpods Connection Rejected

I have an iMac from late 2013 with macOS Catalina, and since purchasing new Airpods (about two months ago) they always struggle connecting to my computer. They work perfectly fine with other devices, but rarely connect to my computer without struggle. I've tried resetting their connection (forgetting the device, then reconnecting by holding the button down until flashing white) and it has not worked. In the Bluetooth section of System Preferences, I'll get a notice under my airpods with a caution icon and the message "Connection rejected." Is there anything else I can do to fix this?