How to get mildew out of safety straps for a carseat?

I am having a baby in about 3 weeks and got the carseat out of storage. I noticed that it had a bit of mildew on the straps. It was likely put away without being cleaned by my husband. So I am wondering what will take out the mildew. The straps are a golden tan color and they are Graco. Thanks for any help!