Password Removal for PDF Document

I created a PDF document in 2016. It had some sensitive information that needed to be forwarded to my insurance company so I created the document with a password that I sent to my insurance company. Now, I need to open the document and do some edits. However, I can not remember the password and the insurance company was not help. Is there a way to remove the password so I can open the document in Adobe Acrobat? Thanks in advance.