How to join two tables using a comma-separated-list in the join field

select
    m.id,
    group_concat(c.name)
from
    movies m
    join categories c on find_in_set(c.id, m.categories)
group by
    m.id

The output should be something like this:

Table movies {
  -id-       -categories-
  1          Comedy,Drama
  2          Action,Drama
  4          Other,Dance
}