It's possible that the time on the device you're using the authenticator app on is not properly synced with the network time. Go to your device's Date & Time settings and enable network syncing.
On Android, this is the "Automatic" option:
On iOS, this is the "Set Automatically" option:
Or you can also find Time correction for codes option in Settings.
If you still get an error, try deleting the Google Authenticator entry and creating a new entry by re-scanning the QR or re-entering the manual key.
If you still cannot enable or need any help with completing the steps above, please get in touch with us at [email protected].