Does a linear semisimple Lie group have only finitely many connected components?

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Let $G$ be a semisimple real Lie group that is linear, i.e. admits a closed embedding $G \hookrightarrow \text{GL}(n,\mathbb{R})$ for some $n \in \mathbb{N}$. Does $G$ have only finitely many connected components?

If $G$ is real algebraic, then this is known to be true. On the other hand, if we drop the linearity condition, then $\text{SL}(2,\mathbb{R}) \times \mathbb{Z}$ is a counterexample.

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This is false, just like the other question, because $\mathbb Z$ is a linear Lie group. It embeds in $\operatorname{GL}_1(\mathbb R)$ by $n \mapsto 2^n$.