[Python] evaluating polynomials of matrices in python using sympy

I use SymPy to operate on polynomials and matrices. But I'm looking for polynomials of matrices. After much searching online I only find results where entries of matrices are polynomials, for example the 2x2 matrix below:

x^2 x^3

x+1 x-1

However, I'm interested in a function which takes as input a polynomial p and a matrix M, and simply outputs p(M).

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