Lie-Rinehart algebra $\simeq$ acyclic Lie $\infty$-algebroid

We show that there is an equivalence of categories between Lie-Rinehart algebras over a commutative algebra $\mathcal O$ and homotopy equivalence classes of negatively graded Lie $\infty$-algebroids over their resolutions (=acyclic Lie $\infty$-algebroids). This extends to a purely algebraic setting the construction of the universal $Q$-manifold of a locally real analytic singular foliation of Lavau-C.L.-Strobl. In particular, it makes sense for the universal Lie $\infty$-algebroid of every singular foliation, without any additional assumption, and for Androulidakis-Zambon singular Lie algebroids. Also, to any ideal $\mathcal I \subset \mathcal O$ preserved by the anchor map of a Lie-Rinehart algebra $\mathcal A$, we associate a homotopy equivalence class of negatively graded Lie $\infty$-algebroids over a complex computing ${\mathrm{Tor}}_{\mathcal O}(\mathcal A, \mathcal O/\mathcal I)$. Several explicit examples are given.