Olivia Wilde admits her split from Jason Sudeikis made her feel like a "failure", describing the breakup as one of the "most painful" decisions of her life.

The 42-year-old actress and the 51-year-old actor, who have son Otis, 12, and daughter Daisy, 10, separated in 2020 after nine years together.

Olivia told The New York Times: "It feels like a failure when you can't make a relationship work, particularly if it's with the person you have children with ...

"That is by far the most difficult, painful decision I've ever made in my life, to understand that it was not better for my kids to live in a house where their parents were not aligned.

"My parents are still together and have an incredible relationship. They worked together for many years; they're both journalists. And I always thought that would be me. And the shame also comes from that - when you feel like you haven't nailed this thing that we're supposed to nail.

"We're told if you're good at it, you'll stay with someone forever.

"If you're not so good, it's a bit of a disappointment."

The Don't Worry Darling alum said she is proud of her co-parenting relationship with Jason, but admits it is harder than people think.

She said: "I really take pride in how good we are at co-parenting our kids in my family. We have reached this healthy equilibrium.

"It's so hard. Anyone who pretends it's easy - like, 'Oh, you just consciously uncouple, and then you find a way' - that's BS.

"I feel relieved that I'm able to give them a life with parents where there's a real sense of authenticity in terms of how everyone's feeling and doing."

The Invite star, who is now dating art dealer Caspar Jopling, says children can "sense" when something is wrong between their parents.

Olivia explained: "When you're trying to hide it from your kids, they sense it. They're the most intuitive people in the house. And then people start to feel, like, What is real? Because I can tell that something's being performed for me. I wouldn't wish that on anyone."

Olivia and Jason are trying to raise their kids not to be "little turds".

While Otis and Daisy often find themselves in privileged positions as a result of their high-profile parents, they are keen for them to stay grounded.

In July, Jason was joined by his children when he made a surprise appearance at the World Cup final half-time show as his TV alter ego Ted Lasso, and the youngsters were able to meet singer Justin Bieber, 32, and 64-year-old actor Tom Cruise.

Jason told E! News: "The cousin text chain lit up. So, that's always exciting and fun.

"[Justin] was very kind. My son got to meet Tom Cruise.

"These kiddos. I'm doing everything I can that they don't turn into little turds. Both me and their mom."

The actor has implemented a "Ted Lasso philosophy" with one of his most important rules for his children.

He said: "I try to explain to them the power of please and thank you when you really mean it.

"Not only do you get to be in interesting places, but I think, more importantly, you get invited back.

"That feels like a Ted Lasso philosophy that we've yet to implement on the show, but you certainly see it a lot."