Magento 2 – How to install composer.json of a third party module?

I created a new extension. I have this composer.json in my project:

app/code/Company/App/composer.json:

{
    "name": "company/module-app",
    "description": "Company App",
    "type": "magento2-module",
    "license": "GPL-3.0",
    "authors": [
        {
            "name": "Mage2Gen",
            "email": "info@mage2gen.com"
        }
    ],
    "minimum-stability": "dev",
    "require": {
        "firebase/php-jwt": "^6.0"
    },
    "autoload": {
        "files": [
            "registration.php"
        ],
        "psr-4": {
            "Company\App\": ""
        }
    }
}

If I go to app/code/Company/App and execute composer install then it installs the requirement into MAGENTO_ROOT/app/code/Company/App/vendor but I need it in MAGENTO_ROOT/vendor

How can I install it so that the requirements are getting installed into magento?
Or is it not possible like this? Do I need to add "firebase/php-jwt": "^6.0" to MAGENTO_ROOT/composer.json instead?