How do I authorize a new kobo with my current Adobe ID so I can transfer library books to my new kobo?

When I transferred my first library book to my new kobo it transferred just fine but when I tried to open it on my kobo I got this error message:

"Opps! This document couldn't be opened. This document is protected by Adobe Digital Rights Management (DRM) and is not currently authorized for use with your Adobe ID. Please sign-in with the authorized Adobe ID and try again."

I first set up my Adobe ID with my current library account but I had a different Kobo at the time. I have since gotten an new kobo and it transfers books I have purchased without trouble. I think I need my Adobe ID to recognize a second device but I'm not sure how to do this. Can you give me any suggestions?

Thank you.