Other answers work, but it is good to know that the generated JSON will have the following form (in this example I use an hypothetical "name" field for your customers):
{
    "5587d2c3cd8348455b26feab": {
        "_id": {
            "$id": "5587d2c3cd8348455b26feab"
        },
        "name": "Robert"
    },
    "5587d2c3cd8348455b26feac": {
        "_id": {
            "$id": "5587d2c3cd8348455b26feac"
        },
        "name": "John"
    }
}
So in case you don't want the Object _id to be the key of each of your result objects you can add a false parameter to iterator_to_array.
Your code would be:
echo json_encode(iterator_to_array($customers, false), true);
This creates the same result as
$result = Array();
foreach ($customers as $entry) {
    array_push($result, $entry);
}
echo json_encode($result, true);
which is an array of JSON objects
[
    {
        "_id": {
            "$id": "5587d2c3cd8348455b26feab"
        },
        "name": "Robert"
    },
    {
        "_id": {
            "$id": "5587d2c3cd8348455b26feac"
        },
        "name": "John"
    }
]