OpenID Role Assignment Drupal 8

How can I implement “User Claims” to assign “Roles” to users on a Drupal 8 system authenticated from okta.

I have OpenID functioning and authenticating users created in okta but cannot figure out a way to assign roles once they log into the Drupal 8 CMS.

I did find this on Drupal’s site however I am unsure how to integrate it with Okta