Manual pages build fails

Describe the bug

The execution of the command make man with the default Sphinx Makefile fails with an AssertionError.

How to Reproduce

$ git clone https://github.com/ragonneau/cobyqa.git
$ cd cobyqa/docs
$ pip install -r requirements.txt
$ make man

Expected behavior

The man pages to be built.

Your project

https://github.com/ragonneau/cobyqa

Screenshots

# Sphinx version: 4.3.0
# Python version: 3.9.5 (CPython)
# Docutils version: 0.17.1 release
# Jinja2 version: 3.0.3
# Last messages:
#   refs/generated/cobyqa.linalg.nnls
#   refs/generated/cobyqa.linalg.rot
#   refs/generated/cobyqa.linalg.rotg
#   refs/tests
#   refs/generated/cobyqa.tests.assert_array_less_equal
#   refs/generated/cobyqa.tests.assert_dtype_equal
#   bugs
#   license
#   }
#   failed
# Loaded extensions:
#   sphinx.ext.mathjax (4.3.0) from /home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/ext/mathjax.py
#   sphinxcontrib.applehelp (1.0.2) from /home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinxcontrib/applehelp/__init__.py
#   sphinxcontrib.devhelp (1.0.2) from /home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinxcontrib/devhelp/__init__.py
#   sphinxcontrib.htmlhelp (2.0.0) from /home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinxcontrib/htmlhelp/__init__.py
#   sphinxcontrib.serializinghtml (1.1.5) from /home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinxcontrib/serializinghtml/__init__.py
#   sphinxcontrib.qthelp (1.0.3) from /home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinxcontrib/qthelp/__init__.py
#   alabaster (0.7.12) from /home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/alabaster/__init__.py
#   sphinx.ext.autodoc.preserve_defaults (1.0) from /home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/ext/autodoc/preserve_defaults.py
#   sphinx.ext.autodoc.type_comment (4.3.0) from /home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/ext/autodoc/type_comment.py
#   sphinx.ext.autodoc (4.3.0) from /home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/ext/autodoc/__init__.py
#   sphinx.ext.autosummary (4.3.0) from /home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/ext/autosummary/__init__.py
#   numpydoc (1.1.0) from /home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/numpydoc/__init__.py
#   sphinx.ext.doctest (4.3.0) from /home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/ext/doctest.py
#   sphinx.ext.intersphinx (4.3.0) from /home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/ext/intersphinx.py
#   sphinx.ext.linkcode (4.3.0) from /home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/ext/linkcode.py
#   sphinxcontrib.bibtex (2.4.1) from /home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinxcontrib/bibtex/__init__.py
Traceback (most recent call last):
  File "/home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/cmd/build.py", line 280, in build_main
    app.build(args.force_all, filenames)
  File "/home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/application.py", line 344, in build
    self.builder.build_update()
  File "/home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/builders/__init__.py", line 291, in build_update
    self.build(['__all__'], to_build)
  File "/home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/builders/__init__.py", line 358, in build
    self.write(docnames, list(updated_docnames), method)
  File "/home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/util/__init__.py", line 547, in wrapper
    return f(*args, **kwargs)
  File "/home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/builders/manpage.py", line 99, in write
    self.env.resolve_references(largetree, docname, self)
  File "/home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/environment/__init__.py", line 569, in resolve_references
    self.apply_post_transforms(doctree, fromdocname)
  File "/home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/environment/__init__.py", line 581, in apply_post_transforms
    transformer.apply_transforms()
  File "/home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/transforms/__init__.py", line 86, in apply_transforms
    super().apply_transforms()
  File "/home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/docutils/transforms/__init__.py", line 171, in apply_transforms
    transform.apply(**kwargs)
  File "/home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/transforms/post_transforms/__init__.py", line 43, in apply
    self.run(**kwargs)
  File "/home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/sphinx/transforms/post_transforms/__init__.py", line 121, in run
    node.replace_self(newnodes)
  File "/home/tmr/PycharmProjects/cobyqa/venv/lib/python3.9/site-packages/docutils/nodes.py", line 1034, in replace_self
    assert not self[att], \
AssertionError: Losing "ids" attribute: ['id1']

OS

Linux

Python version

3.9.5

Sphinx version

4.3.0

Sphinx extensions

sphinx.ext.mathjax, sphinxcontrib.applehelp, sphinxcontrib.devhelp, sphinxcontrib.htmlhelp, sphinxcontrib.serializinghtml, sphinxcontrib.qthelp, alabaster, sphinx.ext.autodoc, sphinx.ext.autosummary, numpydoc, sphinx.ext.doctest, sphinx.ext.intersphinx, sphinx.ext.linkcode, sphinxcontrib.bibtex

Extra tools

No response

Additional context

No response

Reproduce the failure with the documented make man command from the docs directory, then trace the assertion through sphinx/builders/manpage.py and sphinx/transforms/post_transforms/__init__.py. Done means the manual pages build successfully without the Losing "ids" attribute assertion.