Got the error page "The system is currently encountering an authentication configuration error." when log in ThingWorx Navigate

• Got the following error when log in ThingWorx Navigate with Single Sign-On (SSO)

The system is currently encountering an authentication configuration error.

Close the browser and try to login again. If the problem persists, contact your system administrator.

• ThingWorx Application log reports the following error:

2023-06-06 02:44:23.210+0000 [L: ERROR] [O: c.t.w.c.ThreadLocalContext] [I: ] [U: ???] [S: ] [P: ] [T: https-openssl-nio-8443-exec-9] <---- Unable to restore security context : security context stack was empty
\[U: ???] [S: ] [P: ] [T: https-openssl-nio-8443-exec-9] Could not handle request

• ThingWorx Error log reports the following error:

 [L: ERROR] [O: E.c.q.l.c.Logger] [I: ] [U: ???] [S: ] [P: ] [T: https-openssl-nio-8443-exec-9] <---- Unable to restore security context : security context stack was empty 
[L: ERROR] [O: E.c.q.l.c.Logger] [I: ] [U: ???] [S: ] [P: ] [T: https-openssl-nio-8443-exec-9] com.thingworx.common.utils.ThreadPoolUtilities.getCurrentThreadCallStack:11_com.thingworx.webservices.context.ThreadLocalContext.popSecurityContextEntry:693_com.thingworx.webservices.context.ThreadLocalContext.clearSecurityContext:223_com.thingworx.security.authentication.sso.ThingworxSSOAuthenticatorFilter.doFilter:100_org.springframework.security.web.FilterChainProxy$VirtualFilterChain.doFilter:346_com.ptc.eauth.identity.saml2.SAMLProcessingDoChainBeforeSuccessFilter.successfulAuthentication:37_com.thingworx.security.authentication.sso.SSOSAMLProcessingDoChainBeforeSuccessFilter.successfulAuthentication:49_org.springframework.security.web.authentication.AbstractAuthenticationProcessingFilter.doFilter:233_org.springframework.security.web.authentication.AbstractAuthenticationProcessingFilter.doFilter:213_org.springframework.security.web.FilterChainProxy$VirtualFilterChain.doFilter:346_org.springframework.security.oauth2.client.filter.OAuth2ClientContextFilter.doFilter:64_org.springframework.security.web.FilterChainProxy$VirtualFilterChain.doFilter:346_org.springframework.security.web.context.SecurityContextPersistenceFilter.doFilter:110_org.springframework.security.web.context.SecurityContextPersistenceFilter.doFilter:80_org.springframework.security.web.FilterChainProxy$VirtualFilterChain.doFilter:346_org.springframework.security.saml.metadata.MetadataGeneratorFilter.doFilter:87_org.springframework.security.web.FilterChainProxy$VirtualFilterChain.doFilter:346_org.springframework.security.web.FilterChainProxy.doFilterInternal:221_org
[L: ERROR] [O: E.c.q.l.c.Logger] [I: ] [U: ???] [S: ] [P: ] [T: https-openssl-nio-8443-exec-9] [ Failed to utilize the SSO component for authentication ][ com.thingworx.security.authentication.AuthenticatorException: com.thingworx.common.exceptions.InvalidRequestException: Authentication failed: Please make sure the credentials are correct. 
[L: ERROR] [O: E.c.q.l.c.Logger] [I: ] [U: ???] [S: ] [P: ] [T: https-openssl-nio-8443-exec-9] Could not handle request 
[L: ERROR] [O: E.c.q.l.c.Logger] [I: ] [U: ???] [S: ] [P: ] [T: https-openssl-nio-8443-exec-9] errorMessage: [Unauthorized], statusCode: [401] 
[L: ERROR] [O: E.c.q.l.c.Logger] [I: ] [U: ???] [S: ] [P: ] [T: https-openssl-nio-8443-exec-9] [ com.thingworx.security.authentication.AuthenticatorException: com.thingworx.common.exceptions.InvalidRequestException: Authentication failed: Please make sure the credentials are correct. ]