Social Login with Google Returns Tokens That Are Invalid for the API

Using social login (Google) via the following:

var waGoogle = new auth0.WebAuth({
    domain: 'testApplication.auth0.com',
    clientID: '************',
    redirectUri: 'http://localhost:8080/'
  })

  waGoogle.authorize({
    connection: 'google-oauth2',
    responseType: 'id_token token'
  }, function(err, authResult){
    if(err){
      console.log('Google Login Error')
      console.log(err)
    }
  });

Google screen shows up, I log in and I am redirected back to my application.
From the application, I am able to parse the URL so that I can get the access and id tokens.

let getParameterByName = (name) => {
  var match = RegExp('#&]' + name + '=(^&]*)').exec(window.location.hash);
  return match && decodeURIComponent(match[1].replace(/\+/g, ' '));
}

var access_token = getParameterByName('access_token')
var id_token = getParameterByName('id_token')

Issue I am having is that none of the tokens allow me to call my APIs (asp.net web api) which are decorated with the [Authorize] attribute. It returns a:

401 (Unauthorized)

I know that my API is working, as using the normal
Username-Password-Authentication method where I also obtain an access token, my api calls are just pulling through.

Are there any next steps which I need to do after obtaining the access and id_token from Google? Do I need to make an additional call to Auth0 to obtain the proper access token to be able to call my web api?

Thanks.

You will need to pass an audience parameter to obtain a valid JWT access_token, which can be used to call your API. The audience parameter is the identifier of your API which you have configured in Auth0.

waGoogle.authorize({
     connection: 'google-oauth2',
     responseType: 'id_token token',
     audience: 'MY_API_IDENTIFIER // pass this parameter
   }, function(err, authResult){
     if(err){
       console.log('Google Login Error')
       console.log(err)
     }
   });

Thank you for providing some answers.
As a follow up, I tried to use the tokens (access and Id) to get the user info as stored in Auth0, but I am getting invalid_credentials error.
https://auth0.com/docs/libraries/auth0js/v8#extract-the-authresult-and-get-user-info.
I suppose I should still be able to get the user info based off the social login profile, right?