The diagram in the article to which Michael links is very useful:
(https://en.wikipedia.org/wiki/Chuck_(engineering)#/media/File
pecial-Direct-System-chuck.png)
The (normally rubber-like) end cap, not numbered in the diagram, but cut through by the upper and lower II section arrows, should just prise off. This will allow access to the collar that retains the balls.
As he says, a good clean and lubricate should solve your problem and endcap removal will allow you to check that the collar is retracting properly. The balls have to come out from the outside or they would fall into the chuck every time you remove the bit.
I have only seen it once before, and I hope it is not the issue here, but I once had an SDS drill bit that was improperly heat treated such that the hammering action mushroomed the end of it within the chuck. This made it very difficult to remove.