Change content of div when scrolling website with javascript

I would like to emulate something like the image half way down the page on the right on this website: https://www.pandadoc.com/

I would like to change the content of a when each section is scrolled to. The content must match the section if we scroll back up as well. So the content of the will always match the section it's sitting next to.

I can add section ID's to each section so we know what section is visible and I am able to create the sticky content in my CMS (Wordpress using DIVI theme) but I would like to be supplied with some javascript code that will change the content of the div.

Let me know if you have any questions.