Notifications overlay pops up at random

I have a new Nokia 5.4 TA-1337 with Android 10. Every so often, the overlay that’s supposed to come up when drawing down from the top of the screen (darkening the screen, showing the Wifi, Bluetooth, Do Not Disturb, Flashlight, Auto-Rotate and Battery Saver buttons, as well as any outstanding notifications) comes up at random.

It doesn’t appear to be related to whether or not there are any new notifications. Sometimes it’s also the other way around (the overlay disappearing when I actually wanted it).

screenshot of the notifications overlay

It happens constantly (multiple times while writing this question alone).

What causes this? What can I do to fix it?