Did people report seeing UFOs before the 20th century?

An illustration of a strange streak of light in the night sky.

Every so often, claims of UFO sightings go viral and even spur serious research. But humans have been gazing at the sky for millennia, and reports of such sightings go way back. So what was the first recorded UFO sighting, and did it predate the mid-20th century, when reports of UFOs became more commonplace?

Unfortunately, the answer isn't clear-cut, at least when looking at pre-modern examples.