Get by Id with multiple parameters

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My question:
https://2211-223-177-220-195.ngrok.io/api/Categories/2
Instead of accessing id parameter (id=2), i want to access the url dynamically.

https://2211-223-177-220-195.ngrok.io/api/Categories/?$select=categoryId
But that’s not working.(getting 404 Error)

Details (like screenshots):

How I found the problem:
Basically I wanna know how to access id parameter by changing url dymamically.

I’ve already tried:

https://2211-223-177-220-195.ngrok.io/api/Categories/?$select=categoryId,categoryName

https://2211-223-177-220-195.ngrok.io/api/Categories/?$find=categoryId,categoryName