Controller fails to start with invalid entity name or password (unauthorized access)

When running “systemctl start jujud-machine-0.service” it fails with the following error log entry:

2020-07-10 18:19:31 INFO juju.cmd supercommand.go:83 running jujud [2.7.2 5cec786b7b1f3af1ad3695e78f6017fa089e5f6e gc go1.12.16]
2020-07-10 18:19:31 DEBUG juju.cmd supercommand.go:84 args: []string{"/var/lib/juju/tools/machine-0/jujud", “machine”, “–data-dir”, “/var/lib/juju”, “–machine-id”, “0”, “–debug”}
2020-07-10 18:19:31 DEBUG juju.utils gomaxprocs.go:24 setting GOMAXPROCS to 2
2020-07-10 18:19:31 DEBUG juju.agent agent.go:545 read agent config, format “2.0”
2020-07-10 18:19:31 INFO juju.cmd.jujud agent.go:133 setting logging config to “=WARNING;unit=DEBUG”
2020-07-10 18:19:31 ERROR juju.worker.dependency engine.go:671 “api-caller” manifold worker returned unexpected error: [b8b799] “machine-0” cannot open api: unable to connect to API: dial tcp connect: connection refused
2020-07-10 18:19:36 ERROR juju.worker.apicaller connect.go:204 Failed to connect to controller: invalid entity name or password (unauthorized access)

How can I fix the controller authorization so the controller can startup?