Divide the length of the input string by 4, take the remainder. If it is 2, add two = characters at the end. If it is 3, add one = character at the end.
You now have Base64-URL with padding.
Replace all - characters by + and all _ characters by /.
You now have Base64 with padding.
Base64 decoding should be available as a library for your favorite language...
Thanks, it looks like the repository was renamed. I copy the script here in case the repo disappears (could happen since Moodstocks has belonged to Google for years now...)