diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index f394f9b..6b88b40 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ["3.7", "3.8", "3.9"]
+        python-version: ["3.8", "3.9", "3.10", "3.11"]
 
     steps:
       - uses: actions/checkout@v2
diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index c7b42b8..705319d 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -8,7 +8,7 @@ jobs:
   docs:
     runs-on: ubuntu-latest
     container:
-      image: python:3.8
+      image: python:3.9
     steps:
 
       # Check out source
diff --git a/.github/workflows/mypy.yml b/.github/workflows/mypy.yml
index 5611844..1a1ec58 100644
--- a/.github/workflows/mypy.yml
+++ b/.github/workflows/mypy.yml
@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ["3.8"]
+        python-version: ["3.9", "3.10"]
 
     steps:
       - uses: actions/checkout@v2
diff --git a/docs/requirements.txt b/docs/requirements.txt
index 8d4bf89..8bd6554 100644
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -1,9 +1,8 @@
-sphinx==5.1.0
+sphinx==7.2.6
 sphinx_rtd_theme
 sphinx_math_dollar
-sphinx-autoapi==1.8.0
+sphinx-autoapi==3.0.0
 graphviz
-m2r
-
-# Workaround for https://github.com/miyakogi/m2r/issues/66
-mistune<2.0.0
+m2r2==0.3.3.post2
+git+https://github.com/brentyi/sphinxcontrib-programoutput.git
+git+https://github.com/brentyi/ansi.git
diff --git a/docs/source/conf.py b/docs/source/conf.py
index e1d4455..1884e16 100644
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -344,12 +344,12 @@ def __init__(self, obj, **kwargs):
 
 # -- Enable Markdown -> RST conversion ----------------------------------------
 
-import m2r
+import m2r2
 
 
 def docstring(app, what, name, obj, options, lines):
     md = "\n".join(lines)
-    rst = m2r.convert(md)
+    rst = m2r2.convert(md)
     lines.clear()
     lines += rst.splitlines()
 
diff --git a/setup.py b/setup.py
index 6faa80f..2b9587a 100644
--- a/setup.py
+++ b/setup.py
@@ -15,7 +15,7 @@
     license="MIT",
     packages=find_packages(),
     package_data={"jaxlie": ["py.typed"]},
-    python_requires=">=3.7",
+    python_requires=">=3.8",
     install_requires=[
         "jax>=0.3.18",  # For jax.Array.
         "jax_dataclasses>=1.4.4",