Air carrier First Officer reported while turning onto a taxiway the aircraft wheels departed the paved surface and became stuck on the grass. ATC was notified and the aircraft was towed out of the grass.

Narrative

Captain was PF and FO was PM. On the approach briefing the captain discussed with me (FO) that the taxi-ways in ZZZ were very narrow; and that to maneuver into hangar off [taxiway] 1 it is best to taxi off of the runway to [taxiway] 1 so you arent making a 90 degree turn on the taxiway. We landed on Runway XX and exited on [taxiway] 2. Our instructions by ATC were to taxi 2; 3; cross rwy XY on 3; enter rwy XX on 4 and back taxi to exit on 1. Upon turning from 3 to 4 prior to entering the runway our aircraft came to a complete stop. the captain powered up to around 30% and when the aircraft did not move at all he brought the powers to idle and requested for me to call tower. I then called tower and requested for them to check if our wheels were in the grass; which they confirmed and then we requested to have tow crew pull us out.We became aware of the event immediately when the aircraft stopped moving in the turn. The captain applied appropriate amount of power to see if we would move again and when we did not move we called tower to ask them to confirm that we were stuck off of the taxi-way.I believe this event was caused by not over-steering the aircraft enough on the 90 degree turn; in combination with very narrow taxi-ways that are difficult to maneuver for a large aircraft.our reaction was to not try and correct being stuck ourselves and to call tower and ask operations to help pull us out of the grass.Suggestions: A combination of over-steering training; and to notify other pilots that the best way to enter the hangar if you exit the runway on [taxiway] 2 it would be better to re-enter rwy XX from rwy XY to back taxi instead of entering rwy XX from [taxiway] 4. If we had taken that route we could have avoided having to make such a sharp turn on a taxi-way all together.