Resolution
Configure the SAML IdP to use a redirect URL with 255 or fewer characters.
If this error is experienced after enabling multi-factored authentication (also known as MFA or 2FA), Okta Support will need to make a change on the IdP side to add the feature flag "HANDLE_MULTIPLE_VALUES_IN_REDIRECT_URL". This flag will allow Okta to handle Tableau Desktop's redirects during multi-factor authentication.
Alternatively, disable SAML for use from Tableau Desktop.
Open a command prompt as an administrator and navigate to the Tableau Server bin directory, located by default at C:\Program Files\Tableau\Tableau Server\<version>\bin. Then run the following commands:
tabadmin stop
tabdmin set wgserver.authentication.desktop_nosaml true
tabadmin config
tabadmin start