Query an array of nested documents

I got this document:

{
"_id" : "111",
"email" : "[email protected]",
"username" : "michael098",
"groups" : [
    {
        "_id" : "222"
        "groupName" : "family",
        "groupMembers" : [
            {
                "_id" : "333"
                "name" : "Liam"
            },
            {
                "_id" : "444"
                "name" : "Noah"
            }
        ]
    },
    {
        "_id" : "555"
        "groupName" : "friends",
        "groupMembers" : [
            {
                "_id" : "666"
                "name" : "Oliver"
            }
        ]
    }
  ]
}

I am trying to delete 1 group member by _id, for example if I get userId="111", groupId="222" and groupMemberId="444" the group member with _id="444" will delete.

Example of the document after this delete request:

{
"_id" : "111",
"email" : "[email protected]",
"username" : "michael098",
"groups" : [
    {
        "_id" : "222"
        "groupName" : "family",
        "groupMembers" : [
            {
                "_id" : "333"
                "name" : "Liam"
            }
        ]
    },
    {
        "_id" : "555"
        "groupName" : "friends",
        "groupMembers" : [
            {
                "_id" : "666"
                "name" : "Oliver"
            }
        ]
    }
  ]
}

My attempt (with express and mongoose):

router.delete(
  "/:userId/:groupId/:groupMemberId",
  catchAsync(async (req, res) => {
    const { userId, groupId, groupMemberId } = req.params;
    const updatedUser = await User.findByIdAndUpdate(
      userId,
      { $pull: { "groups.$.groupMembers": { _id: groupMemberId } } },
      { new: true }
    );
    res.send({ updatedUser });
  })
);

The response from this request: I get an error: “The positional operator did not find the match needed from the query.”