User Authentication for Identity Platform + API Gateway

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I have a Cloud Run service fronted by API Gateway. I would like to restrict access to some of the endpoints using JWTs.

The only examples Google provides are these.

I don't see an example for how to use Identity Platform here to authenticate users in API Gateway.

Does anyone know how to do that?

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Turns out that using the Firebase authentication method mentioned in the documentation works (i.e. add the firebase security definition).