Please chnage the following configuration in Azure AD and I am sure it will work.
login url as "https://Sc.local.identityserver/signin-oidc" Prefix the Sitecore Identity server url with "signin-oidc"
reply Url as "https://Sc.local.sc/Sitecore/login" in Azure AD App.
Replace "Sc.local.identityserver" with your identityserver host name.
Replace "Sc.local.sc" with your Sitecore host name.
Identity Server prefix "signin-oidc" is missing in SItecore documentation.
Please let em know if you have any query or issue.