iPad or iPhone doesn't charge until unlocked?

When I plug my iPhone or iPad into my laptop with the USB cable, it doesn't start charging until I unlock the device with touch ID or code. Is there a way I can change this behavior? I don't think it used to work that way (years ago), and now I often forget to unlock it, so I think a device is charging and then hours later realize it's not. To clarify, I don't have to leave it unlocked. I unlock it, then the battery icon changes to indicate it's charging, then I can lock/sleep it again.