I just bumped into this issue on Ubuntu 18.04.3 LTS

However, when I ran

sudo apt remove virtualbox-dkms virtualbox
and then
sudo apt install virtualbox-dkms

it guided me through the MOK process and after a reboot, Virtualbox was
happily loading again.

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https://bugs.launchpad.net/bugs/1574300

Title:
  Could not load 'vboxdrv' after upgrade to Ubuntu 16.04 [required key
  not available]

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