I used the following article to help configure the remote, stand-alone machine and my local, AD joined machine.
https://4sysops.com/archives/enable-powershell-remoting-on-a-standalone-workgroup-computer/
Once the machines have been configured as described in the article, I was then able to verify that I could remotely join the machine to the domain using the commands below.
$s = New-PSSession -ComputerName $IPAddress -Credential $localCreds #$localCreds being a local admin account for the remote machine.
Invoke-Command -Session $s -ScriptBlock {Add-Computer -DomainName $using:domain -Credential $using:domainCred -OUPath $using:ouPath -Restart} #$domainCred being a domain account that has rights to join computers to the domain.
Remove-PSSession -Session $s