Resource Server - Invalid Token, Invalid JOSE header error

Hi,
I am trying to protect my SOAP based webservice with Okta OAuth2 authentication mechanism using spring.
My app is not based on spring boot, but I integrated the app with spring security. Below is the configuration for my app which acts as Resource Server for validating the jwt token and provides access to the resource.

@Configuration
@EnableResourceServer
@EnableWebSecurity
@PropertySource({"classpath:config/OAuth2.properties"})
public class ResourceServerConfig extends ResourceServerConfigurerAdapter{
	
	 @Autowired
	 private Environment env;

	    public void configure (ResourceServerSecurityConfigurer resources) throws Exception {

	        JwkTokenStore tokenStore =  new JwkTokenStore(env.getProperty("jwk.key-set-uri"));
	        DefaultTokenServices defaultTokenServices = new DefaultTokenServices();
	        defaultTokenServices.setTokenStore(tokenStore);
	        resources.resourceId(env.getProperty("authorization-server-id"));
	        resources.tokenServices(defaultTokenServices);
	        resources.tokenStore(tokenStore);
	    }

	    public void configure(HttpSecurity http) throws Exception {
	        RequestMatcher requestMatcher = new AntPathRequestMatcher("/web/**");
	        http.requestMatcher(requestMatcher).authorizeRequests().anyRequest().authenticated()
	                .and()
	                .sessionManagement().sessionCreationPolicy(SessionCreationPolicy.STATELESS);
	    }
}

public class SecurityWebApplicationInitializer extends AbstractSecurityWebApplicationInitializer{
	 public SecurityWebApplicationInitializer() {
	        super(ResourceServerConfig.class);
	    }
}

below are the properties I am using for the jwt key verification…

jwk.key-set-uri=https://MyCompany.oktapreview.com/oauth2/ausdwc45p9oaj8Bv00t7/v1/keys
authorization-server-id=Default

My Auth server name is Default and so i am using server-Id as Default.

I am getting Below error when testing my service.

{
“error”: “invalid_token”,
“error_description”: “Invalid JOSE Header kid (nkNj_A6sWlAAjHC-KwTAaUSDrnLlRQoJTNhjhgjA7M4LBa1k)”
}

I am struck and any help is greatly appreciated.

Does it work if you set your authorization-server-id to ausdwc45p9oaj8Bv00t7?