Aligning CBCT & intraoral scan

I have a STL from an intraoral scan with 3shape, and a CBCT in dicom. How can I align these semi automatically using a few manual landmarks?

What I have:

1x Skull CBCT dicom (edit: I also have a segmentation of this from DentalSegmentator)

3x stl files from intraoral scan. 1 upper, 1 lower, 1 bite.

I want to align the upper intraoral scan to the upper jaw/teeth from the CBCT.