How to Use Okta SCIM for "groups" and "roles"

The SCIM API docs reference fields “groups” and “roles” which are an array of objects.

See reference: https://developers.zoom.us/docs/api/rest/reference/scim-api/methods/#operation/userSCIM2Update

However, Okta only supports creating custom attributes of type array with value either a string or number (not sub objects)?

How does one specifically add one of these attributes in Okta when using the Zoom app with SCIM provisioning enabled?