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WorkOS
The modern identity platform for B2B SaaS. The APIs are flexible and easy-to-use, supporting authentication, user identity, and complex enterprise features like SSO and SCIM provisioning.
Aside from SMS scams, SMS is the least secure type of 2FA. I recommend implementing OTP via authenticator apps like Authenticator and 1Password. You can use the rotp gem for this: https://github.com/mdp/rotp
For more advanced 2FA techniques, including security keys, take a look at the source code for login.gov: https://github.com/18F/identity-idp
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.