wpa_cli connection to hidden ssid

I have a raspberrypi ZeroW that I am trying to connect to a network with a hidden ssid. I know that I could add this line "scan_ssid=1" to my wpa_supplicant.conf file for setup that way, however I would like to do all of the network configuration through wpa_cli. The man page does not seem to have anything on hidden ssid's and when I run the set command it does not provide the output of all the variable options as stated in the man page I just get: "Invalid SET command - at least 2 arguments are required." tldr: connect to hidden ssid through wpa_cli only