As the Greek period was nearing its end, around 197 B.C., the Roman Republic was emerging as a significant military and political power. To further establish their control, Roman legions, under the command of Scipio Africanus, advanced into Asia Minor. There, they faced opposition from the Syrians, sparking a long military campaign.
This conflict culminated in the decisive Battle of Magnesia in 190 B.C., where Scipio Africanus led the Roman forces to victory against the Syrians. This crucial victory not only quelled the Syrian forces but also opened the way for further Roman incursions into the territories of the Near East, including Palestine.
(The Origin of the Bible: Newly Updated by F. F. Bruce, J. I. Packer, Philip W. Comfort, and Carl F. H. Henry, 2020. Old Testament and New Testament Apocrypha by R. K. Harrison, Page 80-81.)