IntelliJ IDEA is the most-used IDE for Java development. It’s also available for ARM devices but has high minimum requirements, so it’s not a good fit to use on a Raspberry Pi:
You can use IntelliJ IDEA to develop on a remote machine (Windows, Linux, or macOS) with code on the Raspberry Pi. Make sure you have the Remote Development Gateway plugin enabled as described on Connect to a remote server from IntelliJ IDEA and Install JetBrains Gateway.