collection_select (documentation) will provide what you need:
collection_select(object, method, collection, value_method, text_method, options = {}, html_options = {})
Returns and tags for the collection of existing return values of method for object's class. The value returned from calling method on the instance object will be selected. If calling method returns nil, no selection is made without including :prompt or :include_blank in the options hash.
The :value_method and :text_method parameters are methods to be called on each member of collection. The return values are used as the value attribute and contents of each tag, respectively. They can also be any object that responds to call, such as a proc, that will be called for each member of the collection to retrieve the value/text.
For your use case, this would mean changing the code to:
<%= f.collection_select(:company_brand, Company.all, :id, :name) %>