Programming error with change staff

[Knute Snortum]

I have run into a situation where LilyPond produces a programming error.
It involves changing staff, voice one, accent fingering and avoid-slur.
It's best to just look at the MWE:

\version "2.25.1"

staffUp = \change Staff = "upper"
staffDown = \change Staff = "lower"

rightHand = {
  \new Voice {
    \voiceOne \staffDown g16->-1( \staffUp c' c' \staffDown g)
  }
}

leftHand = { \new Voice { \clef bass s4 } }

\score {
  \new PianoStaff \with { \override Fingering.avoid-slur = #'inside } <<
    \new Staff = "upper" \rightHand
    \new Staff = "lower" \leftHand
  >>
}

There may be a way to get this smaller, but I couldn't find it.  Is there a
way around this bug as it is affecting my current project?

--
Knute Snortum