List of categories used

I have a custom module where one or more categories get assigned to each module item. In the detail layout, I am wanting to show the categories assign to that particular item. ItemCategoryIdList is an option in Components which works, but how do I get the CategoryName to output instead of the CategoryID?

The categories should also be part of the module items data, so you don’t necessarily need the category list component.
I’m not at my computer just now, but have a look at the demo blog for an example of this:

But if you need to use the module_category_list these docs may help:

Thanks @Adam.Wilson. The code in the demo blog did the trick. I had looked in the demo pages before posting but obviously I didn’t look well enough!