Permalink for custom plugin

I have a custom developed plugin that shows a list of companies in a particular page, using a custom database table I created on a wordpress multisite installation. (There are more to the whole project, thus the custom plugin and the multisite installation). When I click on the name of the company of this page it takes you to: http://www.example.com/company/?company_id=10 (or the relevant company id number of that company) which shows additional details about the company using the data on the table i created.

I have another field names “company_name” on the table, associated with the company_id.

What I want to do is: show the url as http://www.example.com/company/company-name and pull the data of that company.

Anyone have done this before and can give me some instructions?

Thank you in advance for all the help.