If I Believed a Kufr Idea Out of Ignorance, Are My Past Prayers Accepted?

Assalamu Alaikum Sheikh. I have a question. I have known since childhood that in Islam, Allah knows the mind of His servant. No one knows the mind of a person except Allah. I believe in the Quran with all my heart. But I once committed a kufr. I had a misconception in my mind. Where I grew up, there are some people who say what is in the minds of others. I believed them. I believed that Allah has given some people such a power through which they can know the minds of people. But I did not realize at that time that my belief was completely wrong and that what I was believing and saying was kufr. I did not make this mistake with the intention of committing kufr. I did not realize at that time that what I was believing and saying was kufr. I was in a wrong belief. Is this my ignorance? Do I have to be held accountable and are my prayers and supplications at that time valid and accepted?