Hey @dylan6 thanks for following up with the solution 
That’s correct though, unless the access token contains a valid audience value it will be an opaque token and therefore not able to be decoded. Some helpful resources for future reference:
https://community.auth0.com/t/why-is-my-access-token-not-a-jwt-opaque-token/31028
https://community.auth0.com/t/what-is-the-audience/71414
Cheers!