What is the ruling on one who misses a prayer out of forgetfulness, not intentionally?

Intentionally abandoning prayer is one of the gravest sins. However, one who misses a prayer due to forgetfulness bears no sin, and must pray it as soon as they remember it; for the Prophet, peace and blessings be upon him, said: "Whoever forgets a prayer, let him pray it when he remembers it, for there is no expiation for it but that." And for Allah Almighty's saying: "Our Lord, do not impose blame upon us if we forget or make a mistake."