Tailscale SSH closes the connection immediately

I’m trying to enable Tailscale SSH (Tailscale SSH · Tailscale Docs) on my RUTM51, but seem to be running into issues. After doing tailscale up --ssh, any attempts to connect to the router over SSH via its Tailscale IP results in the connection closing immediately. If I disable Tailscale SSH (tailscale up --ssh=false) and then connect to the router over SSH via its Tailscale IP, everything works.

Might this be a firewall issue or am I missing a setting somewhere?