AirPods Pro will not work with Apple Watch Ultra

When using my AirPods Pro with my Apple Watch Ultra the audio starts to break up after a few seconds and becomes unlistenable no matter what the app. Disconnecting and reconnecting just repeats the problem. My AirPods work perfectly with my other Apple devices, while my Watch is absolutely fine with other Bluetooth headphones. Forgetting the AirPods and starting from scratch does not solve the problem.