iCloud Drive a Google Drive replacement: auto folder syncing?

Because I like trying to stay in Apple's ecosystem as much as possible, I'm finally getting around to investigating iCloud Drive on my Mac as a substitute for Google Drive which I use currently.

Why I use Google Drive: so that my Documents Folder on my Mac is accessible when I'm on my iPhone and iPad. (Pretty much the way Drop Box works, I believe)

My question: is there a way to have my Documents folder on my Mac automatically sync with iCloud Drive, so that if I'm working on my Mac and create a new document (that ends up in the Documents folder), it will automatically be uploaded to iCloud Drive?

I know this has to be a common/simple question, but my searches weren't able to get this satisfactorily answered.

Thanks