Correction to: Nature https://doi.org/10.1038/s41586-023-06499-2 Published online 30 August 2023

In the version of the article initially published, Ian Crossfield (Department of Physics and Astronomy, University of Kansas, Lawrence, KS, USA) was missing from the author list and is now included, while Fig. 2 has been updated with the correct density values of all the exoplanets. The changes are made in the HTML and PDF versions of the article.