Apple Account

Recently encountered the common problem where my Apple account is not accepting the pins to my Yubikeys. As a fallback I'd like to set the keys up using the Yubikey authenticator app to generate a numeric code and apparently this is possible. How do I get the account to generate a QR code though - it doesn't seem to offer this as an option when I try to add the Yubikeys to the account. It just tells me to insert the key and enter the PIN. Was it incorrect information that this option is possible?