Did the midwives in Exodus 1 sin by disobeying and lying to Pharaoh? (Catholic/Protestant overview)

In [Exodus 1:15–16](https://www.biblegateway.com/passage/?search=Exodus+1%3A15%E2%80%9316&version=ESV) , the king of Egypt orders the Hebrew midwives to kill the sons born to Hebrew women. However, they do not obey: >But the midwives feared God and did not do as the king of Egypt commanded them, but let the male children live. ([Exodus 1:17](https://www.biblegateway.com/passage/?search=exodus+1&version=ESV) , ESV) When the king questions them, they respond by saying: >“Because the Hebrew women are not like the Egyptian women, for they are vigorous and give birth before the midwife comes to them.” ([Exodus 1:19](https://www.biblegateway.com/passage/?search=exodus+1&version=ESV) , ESV) The following verses show God's response: >So God dealt well with the midwives. And the people multiplied and grew very strong. And because the midwives feared God, he gave them families. ([Exodus 1:20–21](https://www.biblegateway.com/passage/?search=exodus+1&version=ESV) , ESV) What is an overview of Catholic and Protestant understandings of the actions and words of the midwives, especially in light of other passages on civil authority? Were their actions and words sinful or not?