How to get submenu items from a WordPress menu based on parent or sibling

Question

I would like to create a sidebar navigation, where you can click on the parent category to open the subcategories up to the 3rd level.

– Parent
– – 1st level
– – – 2nd level
– – – – 3rd level
– Parent
– – 1st level
– – – 2nd level
– – – – 3rd level

I have used wp_nav_menu for this

<?php wp_nav_menu(array(
'sort_column' => 'menu_order',
'menu' => 'Navigation',
'container_class' => 'menu',
'after' => '<i class="chevron-right"></i>',
'items_wrap'      => '<ul id="%1$s" class="%2$s">%3$s</ul>',
) ); 
?>

How can I solve this?