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Since you are using a third party identity provider (Idp) as authenticator, you can use Lambda Authorizer for access control of your API.
https://docs.aws.amazon.com/apigateway/latest/developerguide/apigateway-use-lambda-authorizer.html
A Lambda authorizer is useful if you want to implement a custom authorization scheme that uses a bearer token authentication strategy such as OAuth or SAML, or that uses request parameters to determine the caller's identity.
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