Upgrade of Linkerd fails with "Could not find the linkerd-config-overrides secret"

I am attempting to upgrade Linkerd from enterprise-2.16.0 to 2.17.1 using the linkerd CLI. I am able to update the CRDs without issue, but when I execute:

linkerd upgrade        | kubectl apply -f -

I receive:

Could not find the linkerd-config-overrides secret.
If Linkerd was installed with Helm, please use Helm to perform upgrades
error: no objects passed to apply