Do I need to replace alarm motion sensor battery when it says ‘low battery’

I only spotted one of my 2nd gen motion sensor says ‘low battery’ when looking under alarm devices in the Ring App. No emails or notifications were sent, as they are when the alarm goes into away or disarm modes. Do I need to change the batteries now or can I wait until it says to? …. I spent over an hour looking in FAQs and googling - but couldn’t find anything as to when to change the batteries.