How do I create a simple folium map legend based on the marker colors and values?

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I have a folium map with three different colored markers which are based on cluster_labels from three bins:

df['cluster_label'] = pd.cut(df['column1'], 3, retbins=True, labels=[0,1,2])[0]

colors = ['lightgray', 'orange', 'red']

How do I create a simple folium map legend based on the marker colors and values like shown in the example image below? enter image description here

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