In this scenario, the Gravity View plugin could help you. If the user submits the form to add their company information, they could easily edit it.
However, if you added the information for the first time and then allow them to edit it later, you would need some custom coding or might require assistance from GravityKit (the plugin developer company).
Please follow the article below to get a great starting point.
I would second @faisalahammad, GravityView would probably be your best and easiest option. As far as I am aware, you would need to add a User Registration option as part of your form as each company would need to be logged into your website to be able to edit their entry.
Although there may be functions you could create which would allow non-logged in users to edit entries, I wouldn’t advise doing this as someone could easily change values in a URL to get a different companies details, which they could then edit.
If you used GravityView, you can decide which fields they can see and edit and create a single page e.g. https://example.com/companydetails which would have a GravityView shortcode that pre-filters to their response so they only ever see what they’ve submitted.