Can I use a domain not hosted in Route53?

I am creating a serverless API…
I’d like to change my API URL from something like:
https://voj7m0322e.execute-api.us-east-2.amazonaws.com

to api.mycompany.com, however mycompany.com is not hosted in Route53…
If it’s possible via serverless framework, how to go about it?

Otherwise what would be the best way to handle this? I do have a load balancer I could use to route to my api gateway URL I guess.