Use a refresh token

To refresh your access token as well as an ID token, you send a token request with a grant_type of refresh_token. Be sure to include the openid scope when you want to refresh the ID token.

http --form POST https://${yourOktaDomain}/oauth2/default/v1/token \
  accept:application/json \
  authorization:'Basic MG9hYmg3M...' \
  cache-control:no-cache \
  content-type:application/x-www-form-urlencoded \
  grant_type=refresh_token \
  redirect_uri=http://localhost:8080 \
  scope=offline_access%20openid \

If the refresh token is valid, then you get back a new access and the refresh token. Whether that refresh token is the same one sent in the request or is a new refresh token depends on:

Note: The access and ID tokens are truncated for brevity.

    "access_token": "eyJhbGciOiJ[...]K1Sun9bA",
    "token_type": "Bearer",
    "expires_in": 3600,
    "scope": "offline_access%20openid",
    "refresh_token": "MIOf-U1zQbyfa3MUfJHhvnUqIut9ClH0xjlDXGJAyqo",
    "id_token": "eyJraWQiO[...]hMEJQX6WRQ"