Admins should be able to disable the need to authorize devices on their marketo account I.e., an admin should be able to decide if users in their marketo account should not be required to authorize new devices
To add to this...in all of our other Cloud based solutions (Salesforce, NetSuite, etc) that require two factor authentication, we are able to bypass the two factor authentication by enabling ip address whitelisting / restrictions. That way the level of security is still using two layers (ip address plus user credentials).
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