Filter Function to Filter large data set to Multiple Users

I am trying to use the “FILTER” function to filter a large dataset that changes each day down to a specific group of users. I am getting stuck when trying to add a second “User” to pull from the data.

My Setup:

one sheet named “Dataset” is the data. It is many columns and I need the whole row for that user to be brought into the results. The column that houses the User ID is column R and has a couple hundred different users.

Covers cells A1:AK11932

Second sheet named “users” is the list of user IDs

Covers cells A1:A12

Third sheet named “results” is where I want the rows of filtered data to pull into.

I have gotten a lot of different errors and can’t seem to nail down how to write the formula so it pulls every row with a user ID from my user list. The formula helper excel offers is not really helping.