custom permalink structure

Use below structure

/%category%/%postname%-%post_id%

Reference

%postname% – The post slug of your post
    %post_id% – The unique ID of a post
    %category% – The category a post was assigned to
    %year% – The year the article was published
    %monthnum% – The month the article was published
    %day% – The day the article was published

Or use below plugin to update your permalink structure

https://wordpress.org/plugins/custom-post-type-permalinks/screenshots/