Short answer for PolicyPak Group Policy Edition: No.
Short answer for PolicyPak Cloud Edition: Yes.
Short answer for PolicyPak MDM Edition: Yes.
For PolicyPak Group Policy Edition, your on-prem delivery method (using Group Policy, SCCM, LanDesk, etc) requires that all computers must be domain joined.
For companies which (mostly) want to use the Group Policy method… all computers must be domain joined at least once and have the “knowledge” of what OU they’re in and get the PolicyPak license information first. Then they can go offline and PolicyPak Group Policy Edition and its components will continue to work during the licensing period.
If you have, say, 80% of machines which are Domain Joined and, say 20% of machines which are Non-Domain joined, you can license the 80% with PP Group Policy Edition, and then manage those final 20% with either PolicyPak Cloud -or- MDM Edition.