Querying database for users

I am using the following code
$authors = $wpdb->get_results("SELECT ID, user_nicename from $wpdb->users ORDER BY display_name");
It is selecting all users including subscribers and customers from WooCommerce.
How would I select only those people with a role of author, editor or contributor?

I had a look through the database but couldn’t figure it out. descriptionhttps://codex.wordpress.org/Database_Description#Table:_wp_users