Fill PDF forms from the shell

Is there a tool to fill PDF forms non-interactively from the shell? For my use case, just setting the text for each field (in whatever order the fields are defined) and saving the PDF file would be enough, but to keep the question more general, any form interaction via CLI is appreciated (tick boxes, select radio buttons, fill text, click buttons, etc.). I know that poppler has [some functions](https://poppler.freedesktop.org/api/glib/PopplerFormField.html) to access PDF forms, but I couldn't find a CLI utility that makes use of these, yet.