Cannot Print on Canon imageRUNNER ADVANCE DX C3935i

My work got a new printer where we need to scan our key fob, and then everything we send to the printer sits in a queue under our login. I'm the only person in the company with a Mac, everyone else has Windows. Because of this, I can't see the printer on my network and need to manually add it by IP address. When I do this, it shows with a green circle but says Idle. When I try to print, it says the printer is not responding. (I already downloaded the correct drivers). Right now the company has me connecting to a VPN and using a remote desktop under Windows to be able to print. Any suggestions to successfully print from my Mac would be greatly appreciated!