If you have provisioning enabled for Salesforce you can schedule imports from Salesforce into Okta. You can configure the Import Matching Rules to determine how users are imported into Okta. The URL below goes over this in more detail.
Thanks for the information Marc. Unfortunately I found this nestled in the documentation This integration only supports the Salesforce User object. Contacts, Accounts, and Opportunity objects are not supported.
Unless there is a way around this, I cannot achieve what I am looking to do.