Administrators can set a policy by navigating to Settings and selecting Account Security under Business Settings
Under Multi-Factor Authentication the user can select the policy
Require all users to set up MFA for their account logins will prompt a user to enroll a second factor on their next login
Require users to use MFA on every login will prompt the user to enter a second factor on every login. When this toggle is disabled, users will be allowed to remember their devices on login, so, after successful authentication, the next time the user logs in on the same device they may not get prompted for a second factor as often.
NOTE: Enabling this feature is “high friction” and will force users to authenticate with a second factor every time they log in (i.e. they will not be able to “remember their device”). Please evaluate this carefully before requiring this policy for all your users