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- Hide the #mktoForm_nnn <form> element by default (you actually should always do this when using the Marketo lightbox functions)
- Set the form to show Custom HTML for Known Leads
- Add an easily findable element (like <div class="knownLead" />) to the Custom HTML
- Check if that element exists on the form before showing the lightbox and (thus unhiding the <form>)
As you are using Marketo forms on your website (embedding those), you won't be able to find out if it is known or unknown lead.
You have to take help from a developer who then can use Marketo REST API to verify if the current mkto_trk cookie is for a known or unknown user.
Once it is found that the current user accessing your website is known you can restrict the automatic popup code to execute.
No, my answer works fine. KL HTML works on 3rd-party sites. Try it yourself.
You should never be tempted to use the REST API in the way you describe.