The package libpam-yubico provides the requires libraries to integrate Yubico's software into PAM (Linux Pluggable Authentication Modules).
Add the PPA and install the package:
❯ apt-get install -y vim software-properties-common
❯ add-apt-repository -y ppa:yubico/stable
❯ apt-get update
❯ apt-get install -y libpam-yubico