Pull contacts in segment using Mautic API

Hi,

I am using the Mautic API and I am trying to pull the contacts that exist in a specific segment in my Mautic instance. I have read through the documentation and I haven’t been able to find a request that gives me the list of contacts that exist in a segment. The only request that I have found is mauticurl.com/api/contacts/{id}/segments which returns the segments that a specific contact is apart of. I can access the contacts in a segment in the UI, is there a way to access this data via the API?

Thanks,
Tyler