# ActiveRecord Query for many to many association

I have two Models in my Rails 6 / PostgreSQL application which have a many to many relation; Car and Driver. The goal is to get all records (Cars) which have no association at all (Drivers). At the moment this is done using Ruby (2.6.3) like this:

result = []
Car.all.each do |car|
result << car.id if car.drivers.empty?
end


Is there an ActiveRecord expression which avoids instantiating each record?