The inverse of matrix $A^TBA$

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Given tall matrix $A \in \mathbb{R}^{m \times n}$ (where $m > n$) of full column-rank and non-singular matrix $B \in \mathbb{R}^{m\times m}$, how to compute the following matrix inverse?

$$ \left( A^T B A \right)^{-1} $$