How to achieve high availability in Keycloak 18.0.2 (Quarkus) cluster mode

Initially, we had one keycloak instance. We added one more instance to achieve high availability. Our goal is to synchronize these 2 instances in a cluster mode setup. When we tried to start the keycloak application, we are facing the below error.
ERROR: no members discovered after 2002 ms: creating cluster as coordinator

We followed Keycloak official documentation but no luck. Can you please let me know how to proceed? What changes need to be done in the cache.ispn file ?
Keycloak version : 18.0.2
Quarkus distribution