You can add multiple devices to Duo, such as an iPad as a backup. Additionally, if you are getting a new phone, if you add your new phone to Duo before wiping and trading in your old phone, you will have a smoother transition experience. If you no longer have the old device, try the Duo Restore process on the new device.
To remove a device from Duo, you must still have access to a previously enrolled device. Please see the instructions above if you no longer possess a successfully enrolled device.