How can I use Azure AD credentials for SSH into AWS EC2 Instance?

I would like to use Azure AD credentials for signing into my AWS Linux EC2. So far, I have managed to setup sso using these steps: https://docs.microsoft.com/en-us/azure/active-directory/saas-apps/amazon-web-service-tutorial#configure-aws-single-account-access-sso

The steps above are successful at getting a user to the management console. I would like to ssh or use the steps above to directly access an instance if possible. How can I accomplish this?

I am in a cloud only environment. We use Azure AD as our only IDP. We do not have Microsoft Active Directory.