Azure Monitor to scrape metrics from prem Prometheus running on Kubernetes

I was looking at this document - Configure Container insights Prometheus Integration - Azure Monitor | Microsoft Docs

But I am not fully sure that I can seamlessly integrate my on prem Prometheus running on Kubernetes with Azure Monitor.

It seems this is supported for Openshift and Kubernetes using AzureStack but what if I have plain vanilla opensource Kubernetes Cluster running on a baremetal ?

Can I still integrate Prometheus running on on-prem baremetal Kubernetes with the Azure Monitor ?