Thank you to Don for figuring this out! If it helps anyone out, I added a line of code to figure out the form ID so I can reuse this without inputing the form number each time. It just pulls it out of the hidden field where it is stored here it is...
<script>
function setupFormSuccess (){
var formID = $('[name="formid"]').val();
var form = MktoForms2.getForm(formID);
if(!form){
setTimeout(setupFormSuccess, 500);
}else{
form.onSuccess(function (values, url){
window.top.location.href = url;
return false;
});
}
}
setupFormSuccess();
</script>