How do I populate a multi-select Text field with results from a query of another table

I have a table named Communications which contains various types of correspondence records (phone calls, texts, meeting notes, etc.). There are multiple Communications for each contact (stored in a separate table named Contacts). There are multiple Contacts for each company (stored in a separate table names Companies).

Is there a way on a form for the Communications table to select a Company (I have the company field populating properly) and have the Contact field populated (all of the contacts for the chosen Company)? I would like the Contact field to be a multi-select text field because there can be multiple contacts associated with a communication record.