REST API authentication with OKTA SSO

Summary:

Is there any option to use OKTA authentication for REST APIs

Content (please ensure you mask any confidential information):

We use OKTA as the SSO identity provide for Fusion HCM. We need to know the possibility of using OKTA for REST API authentication. The idea is to have a service account created in OKTA/AD and the same account will be available in fusion with the required roles and privileges. 

Have seen the documentations and all those talks about basic,JWT authentications only.

Do anyone has any idea or used anything like this? It doesn't need to be specifically OKTA, any other IDP