Servicenow Incidents - update comments- and close

Hi, Is there any way I can close a ServiceNow Incident when closing the associated InsightIDR investigation or vise versa, with comments or worknotes?
Any help would be much appreciated

I know you could do this with ICON, I haven’t used the IDR trigger, but you would have ICON close the ServiceNow ticket with information from the IDR investigation

Thanks Brandon, I will research more on ICON.