You can leave it in Voya or roll it over. A big item that should be considered is the implications of your age, plans for future employment if any, and if you need any funds and withdrawals in advance of age 59-1/2.
The US tax laws can get complicated, but in summary if you leave it in Voya and are younger than 59-1/2 and do not take another job after leaving, you can take distributions from Voya without paying 10% penalty on the withdrawals.
If you roll your Voya funds into a new institutions IRA, and take out withdrawals and are less than 59-1/2, then this withdrawals are subject to 10% early withdrawal penalty.
The key for avoiding early withdrawal penalty when less than 59-1/2 is that the withdrawals have to be made from the qualified plan of your last employer after separation from last employer after age 55.
Be very very very careful and suggest you seek financial expert advice if you are less than 59-1/2 and don’t plan any further work after retiring if you think you may need to make withdrawals before 59-1/2 as you probably don’t want to inadvertently be hit with an incremental 10% early withdrawal penalty just because you rolled over your Voya 401k to a fidelity or Schwab traditional or Roth IRA.