There are many tools that can manipulate PDFs, including:
NOTE: The PDF Toolkit (pdftk) works for me, so instructions below are using this.
sudo apt install pdftk
pdftk secured.pdf input_pw password output unsecured.pdf
sudo apt install qpdf
qpdf –password=password –decrypt secured.pdf unsecured.pdf
sudo apt install xpdf-utils
pdftops -upw password secured.pdf unsecured.pdf