Remove from the incomplete set failed. This should be impossible

I got this error when using the Kafka producer. So far it happened twice, with an interval of about 1 week.

ERROR [2019-05-05 08:43:07,505] org.apache.kafka.clients.producer.internals.Sender: [Producer clientId=<redacted>, transactionalId=<redacted>] Uncaught error in kafka producer I/O thread:
{{ ! java.lang.IllegalStateException: Remove from the incomplete set failed. This should be impossible.}}
{{ ! at org.apache.kafka.clients.producer.internals.IncompleteBatches.remove(IncompleteBatches.java:44)}}
{{ ! at org.apache.kafka.clients.producer.internals.RecordAccumulator.deallocate(RecordAccumulator.java:645)}}
{{ ! at org.apache.kafka.clients.producer.internals.Sender.failBatch(Sender.java:717)}}
{{ ! at org.apache.kafka.clients.producer.internals.Sender.sendProducerData(Sender.java:365)}}
{{ ! at org.apache.kafka.clients.producer.internals.Sender.run(Sender.java:308)}}
{{ ! at org.apache.kafka.clients.producer.internals.Sender.run(Sender.java:233)}}
{{ ! at java.lang.Thread.run(Thread.java:748)}}