How to convert a string into a specific array

Using PHP, how do I convert this string:

$str = "Lorem ipsum dolor sit amet 00541000004UDewAAG consectetur adipiscing elit 00541000003WKoEAAW  eiusmod tempor incididunt 00541000003WKmiAA";

Into an array like this:

$messageSegments = [
 ["type" => "Text", "text" => "Lorem ipsum dolor sit amet "], 
 ["type" => "Mention", "id" => "00541000004UDewAAG"], 
 ["type" => "Text", "text" => "consectetur adipiscing elit"], 
 ["type" => "Mention", "id" => "00541000003WKoEAAW"], 
 ["type" => "Text", "text" => "eiusmod tempor incididunt"], 
 ["type" => "Mention", "id" => "00541000003WKmiAA"], 
];

The type "Mention" always has this format: "00541000003WKoEAAW" which is a Salesforce ID while everything else is regular text..

Any help is appreciated.

I had to use preg_split() + combining two arrays. This solves the issue of text getting chopped off - if the ID is in the beginning of the string, etc.

    $ids = [];
    $words = [];
    $final = [];

    $pattern = '/005[a-zA-Z|0-9]{15}/'; 
    $exploded = explode(' ', $text); 

    //get all the mention ids from new text
    foreach ($exploded as $index => $word) {
        if(preg_match($pattern, $exploded[$index])){
            //replace period or comma
            $id = str_replace(',','',str_replace('.','',$exploded[$index])); 
            array_push($ids,$id);
        }
    } 
    //get words array
    $words = preg_split($pattern, $text,-1, PREG_SPLIT_NO_EMPTY); 

    //find which is first: id or words
    $isIdFirst = preg_match('/^005/', $text); //if str starts with 005

    if($isIdFirst){
        for($x=0; $x < count($ids); $x++) {  
           array_push($final, ['type'=>'Mention','id'=>$ids[$x]]);
           if(isset($words[$x])){
                array_push($final, ['type'=>'Text', 'text'=>$words[$x]]);
           }
        }
    }else{
        for($x=0; $x < count($words); $x++) {  
            array_push($final, ['type'=>'Text', 'text'=>$words[$x]]);
            if(isset($ids[$x])){
                array_push($final, ['type'=>'Mention','id'=>$ids[$x]]);
            }
         }
    }  
    var_dump($final);