Custom Column [Replacing comma separated ids with value from master table]

Hi All,

Could anybody help me in the following scenario?

I have a table that contains the  ids in a column and a master table that contains id along with its name. I want to create another custom column in the first table in which ids are being replaced with its values. e.g following are the input tables

and the expected output should be as follows

could you please let me know how we can achive the above output?

thanks

zeebee