There are many online tools for this, but it also works locally.

jwt() {
    if [ "$#" -ne 1 ] ; then
        echo "Usage: jwt <token>"
    else
        echo -n $1 | cut -d'.' -f1 | base64 -d | jq
        echo ====
        echo -n $1 | cut -d'.' -f2 | base64 -d | jq
    fi
}

decode jwt