inner join with a conditional statement

Hi,

I have an id that could pertain to two different companies depending on the date of the observation. For example id=1 could pertain to firm A between 1990 and 2000 and pertain to firm B between 2001 and 2016. Usually I can run a simple code to link two tables based on id:

Data=innerjoin(Data1,Data2, 'Keys', {'id'});

if id is unique to each firm. But since id is not unique , how can i modify the codes to include a conditional statement about dates. For instance i want to say the following:

 Data=innerjoin(Data1,Data2, 'Keys', {'id'});

where the id selected is the one where the date column in Data1 table (Date0) falls between Dates1 and Dates2 columns in table Data2