We present the first unquenched lattice-QCD calculation of the form factors for the decay $Bto D^astell u$ at nonzero recoil. Our analysis includes 15 MILC ensembles with $N_f = 2+1$ flavors of asqtad sea quarks, with a strange quark mass close to its physical mass. The lattice spacings range from $aapprox 0.15$ fm down to $0.045$ fm, while the ratio between the light- and the strange-quark masses ranges from 0.05 to 0.4. The valence b and c quarks are treated using the Wilson-clover action with the Fermilab interpretation, whereas the light sector employs asqtad staggered fermions. We extrapolate our results to the physical point in the continuum limit using rooted staggered heavy-light meson chiral perturbation theory. Then we apply a model-independent parametrization to extend the form factors to the full kinematic range. With this parametrization we perform a joint lattice-QCD/experiment fit using several experimental datasets to determine the CKM matrix element $|V_{cb}| = (38.40 pm 0.66_{text{th}} pm 0.34_{text{exp}}) times 10^{-3}$, where the first error is theoretical and the second comes from experiment. This result is still in tension with current inclusive determinations, but it is in agreement with previous exclusive determinations. We also integrate the differential decay rate obtained solely from lattice data to predict $R(D^ast) = 0.265 pm 0.013$, which confirms the current tension between theory and experiment.
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