If just meaning workflow logic, as the article mentions it has to be deterministic, which implies idempotency but that is fine because workflow logic doesn't have side effects. But the side-effecting functions invoked from a workflow (what Temporal dubs "activities") of course _should_ be idempotent so they can be retried upon failure, as is the case for all retryable code, but this is not a requirement. These side effecting functions can be configured at the callsite to have at-most-once semantics.
In addition to many other things like observability, the value of durable execution is persisted advanced logic like loops, try/catch, concurrent async ops, sleeping, etc and making all of that crash proof (i.e. resumes from where it left off on another machine).