What pioneering work did Beethoven do to clarify the lofty ideal symbolized by the poem Acura Ninth Symphony?

Beethoven adopted a poem "Ode to Joy" which was deeply loved by a chief musician since his youth, and in order to clarify the lofty ideal symbolized by the poem "Ninth Symphony", he directly adopted chorus and solo in the final movement of his work, which is a bold pioneering work in the history of music.