Magento2.3 module upgrade not working

I just upgraded from Magento2.2.5 to 2.3.2 and now when I try to go to the site I get a bunch of errors written to the exceptions log file about modules versions being incorrect. For example

MSP_TwoFactorAuth data: current version - none, required version - 3.1.0 

However when I look in the setup_module mysql table there is no row entry for the module MSP_TwoFactorAuth and when I run

php bin/magento setup:upgrade 

It doesn’t create the needed database row entry.