wont let me sign in always getting "This session has timed out for your security."

When I log on to appleid.apple.com and then enter the 6-digit code from any of my devices, login is successful but the session simultaneously terminates with the message: "This session has timed out for your security." I have tried this in four different browsers, in incognito mode in Chrome, and on all my devices, all with the same result. Obviously, I can't turn off two-factor authentication, so it does not appear that I have any avenue to fix this. Any ideas?