I keep getting this error trying to insert a record into postgres using exposed v0.53.0

WARN  Exposed - Transaction attempt #2 failed: org.postgresql.util.PSQLException: ERROR: null value in column "benefit_id" of relation "benefit" violates not-null constraint

This is my table

import org.jetbrains.exposed.sql.Table
import org.jetbrains.exposed.sql.kotlin.datetime.date

    object BenefitTable: Table() {
        val benefit_id = integer("benefit_id").autoIncrement()
        override val primaryKey = PrimaryKey(benefit_id)
        val title = varchar("title", 200)
        val description = varchar("description", 200)
        val status = varchar("status", 200)
        val start_date = date("start_date")
        val end_date = date("end_date")
    }

This is my repository method

fun upsertBenefit(benefit: Benefit): Benefit {
        return transaction {
            if (benefit.benefitId == null) {
                val insertedId = BenefitTable.insert {
                    it[title] = benefit.title
                    it[description] = benefit.description
                    it[status] = benefit.status
                    it[start_date] = benefit.startDate
                    it[end_date] = benefit.endDate
                } get BenefitTable.benefit_id
                val insertedRow = BenefitTable.selectAll().where { BenefitTable.benefit_id eq insertedId }.single()
                mapBenefitRow(insertedRow)
            } else {
                val benefitId = benefit.benefitId!!
                BenefitTable.update({ BenefitTable.benefit_id eq benefitId }) {
                    it[title] = benefit.title
                    it[description] = benefit.description
                    it[status] = benefit.status
                    it[start_date] = benefit.startDate
                    it[end_date] = benefit.endDate
                }
                val updatedRow = BenefitTable.selectAll().where { BenefitTable.benefit_id eq benefitId }.single()
                mapBenefitRow(updatedRow)
            }
        }
    }

How do I get exposed to generate an id on insert?
I get the same error using the upsert method.

fun upsertBenefit(benefit: Benefit): Benefit {
        return transaction {
            val insertedId = BenefitTable.upsert {
                it[title] = benefit.title
                it[description] = benefit.description
                it[status] = benefit.status
                it[start_date] = benefit.startDate
                it[end_date] = benefit.endDate
            } get BenefitTable.benefit_id
            val insertedRow = BenefitTable.selectAll().where { BenefitTable.benefit_id eq insertedId }.single()
            mapBenefitRow(insertedRow)
        }
    }

org.jetbrains.exposed.exceptions.ExposedSQLException: org.postgresql.util.PSQLException: ERROR: null value in column "benefit_id" of relation "benefit" violates not-null constraint

We’re already using this database with a spring boot application that is using JOOQ. JOOQ can handle basic crud operations without issue so it doesn’t seem to be an issue with our postgres setup.