Correction to: Nature Published online 14 February 2024

This paper was originally published under a standard Springer Nature license (© The Author(s), under a exclusive licence to Springer Nature Limited). It is now available as an open-access paper under a Creative Commons Attribution 4.0 International license, © The Author(s). In addition, the first names of all authors were originally published as initials only, and are now listed as full names. These errors have been corrected in the HTML and PDF versions of the article.