Is there a way on a WordPress website to use a text area from a form to search for an invoice number?

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I need to be able to search for an invoice. All invoices will be under /invoice/, the only difference is the number. For instance, it would be /invoice/1234 or /invoice/5678. Is there a way to change the number at the end of the URL based on what the user inputs into a text box? What is the best way to do this?

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