Apple now has a dedicated iCloud Passwords add-on for the Firefox browser.
This means Firefox users can access passwords and logins stored in the Passwords app or iCloud Keychain when using Firefox on a Mac or PC. The extension is being distributed by Apple, but it appears that it was originally created by a third-party developer and later taken over and updated by Apple, according to MacRumors.
iCloud Passwords lets you securely fill passwords from iCloud Keychain when signing in to websites using Firefox. Any new passwords you create in Firefox are saved to your iCloud Keychain so that they are also available across your Apple devices. The extension can also generate verification codes, which you can set up by right-clicking on a QR code. The iCloud Passwords extension is compatible with macOS Sonoma or later.