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The Companion signs in once per device with a Companion Key. The key is exchanged for a device credential that renews itself every thirty days.
1

Issue a Companion Key

Open the dashboard, select the Companion Key tab and choose Issue Companion Key. The key is shown once. Copy it before you close the panel.
2

Run yocrow login

Paste the key at the prompt. The input is hidden.
yocrow login needs an interactive terminal. It fails with protected_input_required when run with --non-interactive or from a script.

Where credentials are stored

The Companion Key and the device credential are never written to a plain text file or printed.

Sign out

Signing out revokes the device credential and clears every provider connection on this device.