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Firefox on macOS unfortunately has very poor WebAuthN support, in my experience.

It only supports legacy U2F keys/mode, as far as I know, and Apple seems to require CTAP2.

Firefox team simply has been refusing to implement the Webauthn spec for years now. It's extremely frustrating and is probably still years away as nobody seems to be actively working on it in any capacity.

That's odd, because I can sign into (on-prem) Confluence with my Yubikey (5 NFC) as the MFA via Firefox. I get a little Windows "tap your key" prompt and everything.

Firefox supports U2F. Webauthn is backwards-compatible with U2F. However as a website you can choose whether you want to actually support U2F or only FIDO2. Maybe Apple opted to not do it.

However when I look at the JS code in appleid.apple.com there does seem to be code for U2F code surprisingly.