This is not an ADFS error. This is an Aure AD error (I added the Azure AD tag).
This basically says that your the federation settings you have for this domain in Azure AD are not matching the actual ID of your ADFS deployment. Or at least not the ID that ADF issued in its tokens.
Asusming you don't have a multiple domain environment, the following commands should return the same thing:
# from a machine with the MSOnline module installed and connected
(Get-MsolDomainFederationSettings -DomainName <your domain here>).IssuerUri
# from an ADFS server
(Get-ADFSProperties).Identifier
Then you need to proper claim issuance rule. You can generate them with this wizard if you are not sure which one should be set: https://adfshelp.microsoft.com/AadTrustClaims/ClaimsGenerator.
If you have a multiple domain environment let us know, it might be a bit different. Utlimatly, we use the user's UPN to generate the IssuerID in the token. That also might be why you see post here and there mentionning UPN issues. What is your current UPN situation? Routable domain name? Matching the email address?