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As an alternative you can do it in one line with an array function instead of a loop:
$ids = array_column($entity->toarray>autoren->getValue()['autoren'], 'target_id');
Edit: Use getValue() to only get the array of the field.
getValue()
$ids = array_column($entity->toarray()['autoren'], 'target_id');
$ids = array_column($entity->autoren->getValue(), 'target_id');