What is the origin of the idiom "have a bone to pick" and when to use it?

The origin of the idiom "have a bone to pick" is believed to be rooted in the literal act of two dogs or animals fighting over a bone. In such a situation, each animal would have its own grievances and concerns related to the bone, leading to a dispute or conflict. It is typically used in informal conversations or written contexts when an individual wishes to address an issue or problem they have with another person or an organization.