Cookie issue causing infinite loop during login attempt with Firefox, but not Chrome

Our application can log in successfully against Okta with Chrome, but when the user is on Firefox, the process turns into an infinite loop, bouncing back and forth between Okta and our website. If the user goes into the Firefox browser settings and puts the Okta url into the Cookie exception list with the Allow flag, then login works.

What setting do we need to change, server side, to allow the login process to work, without forcing users to make this local setting change? Can this be accomplished by making a change in the Okta server settings, or do we need to handle it separately from each application? Thank you.