Replace values in array column with related values from another table

In my database I have a table relations with a column relation_ids containing the IDs of users (user_id). This takes the form of an array with many IDs possible, e.g.:

{111,112,156,4465}

I have another table names containing information on users such as user_id, first_name, last_name etc.

I would like to create an SQL query to return all rows from relations with all columns, but append the array column relation_ids with first_name from the names table substituted for IDs.

Is it possible as some kind of subquery?

#sql #postgresql