Doorkeeper is an OAuth 2 provider for Ruby on Rails/Grape. In versions prior to 5.6.6, Doorkeeper automatically processes authorization requests without user consent for public clients that have been previous approved. Public clients are inherently vulnerable to impersonation, their identity cannot be assured.
CWE-287 - Improper Authentication
Improper (or broken) authentication attacks are widespread, and have accounted for many of the worst data breaches in recent years. Improper authentication attacks are a class of vulnerabilities where an attacker impersonates a legitimate user by exploiting weaknesses in either session management or credential management to gain access to the user’s account. This can result in disclosure of sensitive information, and can lead to system compromise, theft, identity theft, and fraud.