How to filter Multiselect Lookup field based on the parent field?

How to filter Multiselect Lookup field based on the parent field?

I have a departments table.

I have a managers table with a mutli select lookup to departments. A manager may have one or more departments.

I have form with the department and manger.  I select the department and then select the manager. 

I would like to show managers of the selected department only. 

I tried set filter but it is not working. 

How to achieve this?