Convenient library to verify vendor-agnostic ID tokens?

I want to authenticate my users via OIDC id-tokens. Auth0’s Validate JSON Web Tokens guide says:

We strongly recommend that you use middleware or one of the existing open source third-party libraries to parse and validate JWTs.

In the third-party libraries section, it recommends Auth0’s node-jsonwebtoken library for Node. However, it looks like that requires a lot of manual implementation. I would like to use something that does a bit more under the hood so I can just pass in config and then start using it. I found idtoken-verifier and wanted to ask if this is an appropriate solution to authenticate users via their id-token. It seems like it is, but I don’t want to assume anything. Thank you!