How can I find out the remaining duration in my current STS role session?

I am using the AWS CLI to communicate with my AWS account. I start by assuming a role in my AWS account with a command like this:

aws sts assume-role \
  --role-arn arn:aws:iam::000011112222:role/MyRole \
  --role-session-name my_session_name \
  --serial-number arn:aws:iam::333344445555:mfa/me \
  --token-code [redacted] \
  --duration-seconds 21600

At a later point I would like to use the AWS CLI to query AWS to understand how much time I have left in my role before the role expires.

Does an AWS CLI command exist for this purpose?