查询Firestore阵列

Is it possible to query for a complex value in an array? I know that I can query a simple array with array contains but unfortunately my query is a bit more complex.

I want to be able to query any documents that have an Inverals[].Actions[].ID == "FOO"

Is that possible? If it matters, I am using Golang to query firestore.

Document Structure (only relevant Attrs shown):

 {
  "WorkoutID": "123",
  "PerformerID": "000",
  "Intervals": [
    {
      "IntervalID": "456",
      "Actions": [
        {
          "ID": "ABC"
        },
        {
          "ID": "DEF"
        }
      ]
    },
    {
      "IntervalID": "789",
      "Actions": [
        {
          "ID": "GHI"
        },
        {
          "ID": "JKL"
        }
      ]
    },
    {
      "IntervalID": "101112",
      "Actions": [
        {
          "ID": "MNO"
        },
        {
          "ID": "PQR"
        }
      ]
    }
  ]
}