It turns out the issue was my the ufw firewall.

In the notes for Sane.pixma.5 at http://www.sane-project.org/man/sane-pixma.5.html it explains that I need to open port 8612 in both directions so sane could see the scanner. I did that and now all works well.

For anyone having similar problems with Canon scanners, make sure you try opening that port.
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