Hello jtwebrib,
Thanks for your question.
I will recommend you test on a different device if possible. The authenticator support is for iOS 15 or later. If this is not possible, Try removing https://company-name.visualstudio.com from your Microsoft Authenticator and re-registering it. This might refresh the connection.
You can mark it 'Accept Answer' and 'Upvote' if this helped you
Regards,
Abiola