diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 9811b66c7..da178e75d 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,6 +33,7 @@ repos:
           - toml==0.10.2
           - pip==20.3.4
           - build==0.9.0
+          - types-docutils==0.20.0.1
   - repo: https://github.com/PyCQA/bandit
     rev: 1.7.5
     hooks:
diff --git a/docs/__init__.py b/docs/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/docs/conf.py b/docs/conf.py
index 1f8491603..d645aa5f9 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -3,12 +3,19 @@
 
 from __future__ import annotations
 
+import os
+import sys
 from importlib.metadata import version as get_version
 from pathlib import Path
 
+from sphinx.application import Sphinx
 from sphinx.util import logging
 from sphinx.util.console import bold
 
+# Add the docs/ directory to sys.path to be able to import utils
+docs_dir = os.path.dirname(os.path.dirname(__file__))
+sys.path.insert(0, docs_dir)
+
 logger = logging.getLogger(__name__)
 
 # -- Path setup --------------------------------------------------------------
@@ -57,3 +64,9 @@
 ]
 
 suppress_warnings = ["myst.xref_missing"]
+
+
+def setup(app: Sphinx) -> None:
+    from docs.utils import TransformSectionIdToName
+
+    app.add_transform(TransformSectionIdToName)
diff --git a/docs/utils.py b/docs/utils.py
new file mode 100644
index 000000000..5777c1712
--- /dev/null
+++ b/docs/utils.py
@@ -0,0 +1,34 @@
+from __future__ import annotations
+
+import re
+from typing import Any
+
+from docutils import nodes
+from sphinx.transforms import SortIds, SphinxTransform
+
+numerical_id = re.compile(r"^id[0-9]+$")
+
+
+class TransformSectionIdToName(SphinxTransform):  # type: ignore[misc]
+    """Transforms section ids from <id1>, <id2>, ... to id <section-name>."""
+
+    default_priority = SortIds.default_priority + 1
+
+    def apply(self, **kwargs: Any) -> Any:
+        for node in self.document.findall(nodes.section):
+            if not self._has_numerical_id(node):
+                continue
+            self._transform_id_to_name(node)
+
+    def _has_numerical_id(self, node: nodes.section) -> bool:
+        node_ids = node["ids"]
+        if not node_ids:
+            return False
+
+        if len(node_ids) != 1:
+            return False
+
+        return bool(numerical_id.match(node_ids[0]))
+
+    def _transform_id_to_name(self, node: nodes.section) -> None:
+        node["ids"] = [nodes.make_id("id " + name) for name in node["names"]]