Compare 2 arrays and find an attribute’s value from one array to another

I have 2 arrays mentioned below.

const arr1 = [{ Id: "a153O000001mjD1QAI", Document_ID__c: 176767 }];


const arr2 = [
  {
    classification: "Scientific Response",
    core_san_localization_translation: ["No"],
    core_san_verbal_only: "false",
    id: "176767",
    major_version_number: "1",
    minor_version_number: "0",
    name: "Advance Search Doc_General Information",
    response_type: ["General"],
    size: 70953,
    subtype: "Local",
    title: "Advance Search Doc_General Information",
    type: "Medical Information",
  },

  {
    classification: "Scientific Response",
    core_san_localization_translation: ["No"],
    core_san_verbal_only: "false",
    id: "127462",
    major_version_number: "1",
    minor_version_number: "0",
    name: "APPROVAL verdict APPROVED FOR USE",
    response_type: ["Administration"],
    size: 1362339,
    subtype: "Local",
    title: "ahsdjhsahdasld",
    type: "Medical Information",
  },

  {
    classification: "Scientific Response",
    core_san_localization_translation: ["No"],
    core_san_verbal_only: "false",
    id: "127461",
    major_version_number: "2",
    minor_version_number: "0",
    name: "APPROVAL verdict APPROVED ,MINOR CHANGES",
    response_type: ["Administration"],
    size: 1362339,
    subtype: "Local",
    title: "ahsdjhsahdasld",
    type: "Medical Information",
  },

  {
    classification: "Scientific Response",
    core_san_answer: "Dosage",
    core_san_localization_translation: ["No"],
    core_san_verbal_only: "false",
    id: "176776",
    major_version_number: "1",
    minor_version_number: "0",
    name: "General Info Test 2",
    response_type: ["Pharmacokinetics and Pharmacodynamics"],
    size: 25432,
    subtype: "Local",
    title: "General Info Test 2",
    type: "Medical Information",
  },
];

I want to search the value of attribute ‘Document_ID__c’ from arr1 in arr2 and if it matches ‘176767’ on any element in arr2,
just create a new array and store that element.

For e.g my desired output is

const finalarray = [
  {
    classification: "Scientific Response",
    core_san_localization_translation: ["No"],
    core_san_verbal_only: "false",
    id: "176767",
    major_version_number: "1",
    minor_version_number: "0",
    name: "Advance Search Doc_General Information",
    response_type: ["General"],
    size: 70953,
    subtype: "Local",
    title: "Advance Search Doc_General Information",
    type: "Medical Information",
  },
];

Please help me on this.