Caveat: It's a bit tricky to define "completeness" for a spectroscopic survey with a bunch of points measured, e.g. are you "complete" in the unobserved area between the points? It becomes a resolution-dependent question.
But you can see how we made those figures and get accompanying data files at that resolution at https://github.com/desihub/dr1paper/tree/main/zenodo . That uses healpix nside=128 nest=False, which corresponds to a resolution of 0.21 deg^2.
If that doesn't meet your needs, please post additional details and we can followup. E.g. for detailed DESI analyses we use a set of randoms that can be used to sample what is "in" or "out" of the footprint, but there are additional issues like whether you count a point that could have been observed in DR1 but wasn't because the fiber was placed on a different nearby object.