[{"customers":[{"id":100,"name":"a"},{"id":200,"name":"b"},{"id":300,"name":"c"},{"id":400,"name":"d"}],"sales":[{"sale_id":9999,"persons_related":[{"id":100},{"id":900},{"id":800}]},{"sale_id":9998,"persons_related":[{"id":500},{"id":550},{"id":560}]},]}]

db.collection.aggregate([{$project:{"customer":{"$arrayElemAt":["$customers",0]}}},{$lookup:{from:"collection",let:{id:"$customer.id"},pipeline:[{$match:{$and:[{$expr:{$in:["$$id","$sales.persons_related.id"]}}]}}],as:"sales"}}])/** foreignField: "sales.persons_related.id",*/