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Devices using the HID class for U2F tokens are initially only accessible to root users on Linux. To fix this, a udev rule must be added.
/etc/udev/70-u2f.rules
KERNEL=="hidraw*", SUBSYSTEM=="hidraw", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="8acf", TAG+="uaccess"
sudo udevadm trigger