How much Bitcoin is going to become permanently lost and how will that affect its long-term price and viability?

I'm new to cryptocurrency so this might be basic. I understand that a cryptocurrency such as Bitcoin can become permanently lost if the keys to the wallet holding that crypto are lost or forgotten. It seems likely that some amount of Bitcoin will become lost each year.

Has there ever been any estimation about how much Bitcoin is lost each year, and how much will become permanently lost as time goes on? Is enough new Bitcoin created to outpace that loss?

I'd appreciate any discussion or resources around this topic.