Stuck on "Domain transfer in progress" - no step details

We are trying to transfer a domain from a different provider to Route 53. The DNS is already hosted on Route 53. We did this last week with another domain and it only took a few minutes. This one has been stuck in Pending Requests for 12 hours with status "Domain transfer in progress" and no additional details of which step it is stuck on, so we are struggling to figure out why this has happened and what we can do. Any ideas? Is there a way to cancel the request and try to kickstart the transfer again?