How to Join Arrays in the Same Document?

I would like to combine the data in one collection using the IDs of the two arrays.

An example is shown below.

{
    "_id": ObjectId ("5976fd2eb0adec0a32fa9831"),
       "People": [
          {
            "_id": 1,      <--- ID
            "Name": "jane"
          },
          {
            "_id": 2,      <--- ID
            "Name": "Mark"
          }
       ],
       "Contents": [
          {
            "userID":  2,   <--- People ID
            "Text": "111"
          },
          {
            "userID":  1,   <--- People ID
            "Text": "Hi"
          }
       ]
}

I want to make the above document as below.

{
    "_id": ObjectId ("5976fd2eb0adec0a32fa9831"),
    "People": [
       {
          "_id": 1,
          "Name" : "Jane"
       },
       {
          "_id": 2,
          "Name": "Mark"
       }
    ],
    "Contents": [
       {
          "userID": 2,
          "Name": "Mark",    <-- Adding
          "Text": "111",

      },
       {
          "userID": 1,
          "Name": "Jane",    <-- Adding
          "Text": "Hi",

      }
    ]
}

I have tried various things like $lookup or $unwind of .aggregate() but I cannot get the result.