If you need to sign in on a borrowed computer you visit the site, it'll ask you to insert the yubikey (if not already), you enter the PIN code and touch it, that's it.
I believe a yubikey with fingerprint instead of PIN (or additionally? Information is scarce on it) is also coming.
For my Okta account, they support push notification to their app on my phone as an alternative authentication measure.
Another approach is a bluetooth (or NFC) enabled device (like your phone) that actually caries the private key. When using a borrowed computer, the signed attestation data is shared with the borrowed system, but that can only be used once, since the private key is never transmitted.
So basically you can either have a side-channel to another MFA method, or a relay where you don't need to trust the intermediary beyond the current session.
One thing to keep in mind is this is not supposed to be the only factor required to sign in. It should be used as a 2nd factor in the similar way to TOTP (but with much better usability).
username -> password -> [ WebAuthn | Okta Verify Push ]
This approach can be used on any website, just with a regular TOTP code in place of the proprietary Okta Verify Push.