Get access token from Keycloak when login happen via IDP (version 11.0.2)

Keycloak will validate the auth response from Identity Provider(any), on success. Keycloak authenticates the user and issues its own token in order to access the requested resource in the service provider. https://www.keycloak.org/docs/latest/server_admin/#_identity_broker_overview

In the document is clearly specified, but I am not able to get the access token after login. How to get the access token for further service request