Not able to login to SSO enabled ThingWorx, SecurityLog shows Message not found in session error

• Unable to login to ThingWorx with SSO enabled, getting error on the browser screen

After enabled SSO, Showing below error while trying to access the application.
"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."

• AuthLog.log throws following error while trying to login using SSO

[O: o.s.s.s.l.SAMLDefaultLogger] [I: ] [U: ???] [S: ] [P: ] [T: https-openssl-nio-8443-exec-1] AuthNResponse;FAILURE;30.22.9.64;TWX_SP;GlobalShopFloorToolsDev5;09236890;;org.opensaml.common.SAMLException: InResponseToField of the Response doesn't correspond to sent message a5c51f32d30ja98316086g7ac4c4idd__	at org.springframework.security.saml.websso.WebSSOProfileConsumerImpl.processAuthenticationResponse(WebSSOProfileConsumerImpl.java:139)__	at com.ptc.eauth.identity.saml2.PTCWebSSOProfileConsumerImpl.processAuthenticationResponse(PTCWebSSOProfileConsumerImpl.java:25)__	at org.springframework.security.saml.SAMLAuthenticationProvider.authenticate(SAMLAuthenticationProvider.java:88)__	at org.springframework.security.authentication.ProviderManager.authenticate(ProviderManager.java:175)__	at org.springframework.security.saml.SAMLProcessingFilter.attemptAuthentication(SAMLProcessingFilter.java:92)__	at org.springframework.security.web.authentication.AbstractAuthenticationProcessingFilter.doFilter(AbstractAuthenticationProcessingFilter.java:212)__	at org.springframework.security.web.FilterChainProxy$VirtualFilterChain.doFilter(FilterChainProxy.java:334)__	at org.springframework.security.oauth2.client.filter.OAuth2ClientContextFilter.doFilter(OAuth2ClientContextFilter.java:60)__	at org.springframework.security.web.FilterChainProxy$VirtualFilterChain.doFilter(FilterChainProxy.java:334)__	at org.springframework.security.web.context.SecurityContextPersistenceFilter.doFilter(SecurityContextPersistenceFilter.java:105)__	at org.springframework.security.web.FilterChainProxy$VirtualFilterChain.doFilter(FilterChainProxy.java:334)__	at org.springframework.security.saml.metadata.MetadataGeneratorFilter.doFilter(MetadataGeneratorFilter.java:87)__	at org.springframework.security.web.FilterChainProxy$VirtualFilterChain.doFilter(FilterChainProxy.java:334)__	at org.springframework.security.web.FilterChainProxy.doFilterInternal(FilterChainProxy.java:215)__	at org.springframework.security.web.FilterChainProxy.doFilter(FilterChainProxy.java:178)__	at com.thingworx.security.authentication.sso.ThingworxSSOAuthenticator.authenticate(ThingworxSSOAuthenticator.java:849)__	at com.thingworx.security.authentication.sso.ThingworxSSOAuthenticator.validateAuthenticationRequest(ThingworxSSOAuthenticator.java:1382)__	at jdk.internal.reflect.GeneratedMethodAccessor80.invoke(Unknown Source)__	at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)__	at java.base/java.lang.reflect.Method.invoke(Method.java:566)__	at com.thingworx.security.authentication.AuthenticationUtilities.validateSSOAuthenticationRequest(AuthenticationUtilities.java:664)__	at com.thingworx.security.authentication.AuthenticationUtilities.validateAuthenticationRequest(AuthenticationUtilities.java:619)__	at com.thingworx.security.authentication.AuthenticationFilter.authenticate(AuthenticationFilter.java:477)__	at com.thingworx.security.authentication.AuthenticationFilter.doFilter(AuthenticationFilter.java:248)__	at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178)__	at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153)__	at com.thingworx.security.contenttype.ContentTypeFilter.doFilter(ContentTypeFilter.java:138)__	at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(Appli