That's not quite true.
The Intermediate-Range Nuclear Forces (INF) Treaty, signed in 1987, prohibits the United States and Russia from possessing ground-launched ballistic and cruise missiles with ranges between 500 and 5,500 KM in order to diminish the risk of nuclear war. In the early years of this historic treaty, both sides collectively destroyed more than 2,600 missiles, eliminating an entire class of weapons.
Unfortunately, that was then and this is now. Russia is cheating on the INF Treaty. Russia started its covert program to violate the INF Treaty probably by the mid-2000s and now has fielded multiple battalions of an illegal missile that flies to ranges prohibited by the INF Treaty. Substantial evidence leading to this conclusion was accumulated over time.
As the rest of the link details, Putin ignored Trump's objections and effectively ended the INF, making the world a much more dangerous place. This was a major failure of the Trump administration in dealing with Russia.
There has been a clear line of progression starting before the 2014 Russian invasion of Ukraine right down to the current Russian invasion. Trump claims Putin would not have dared to invade Ukraine because Putin had too much respect for him, Trump, but clearly Putin showed no more respect for Trump than he had for Obama. However, Biden does seem to have gotten Putin's attention.