Make sure to check out NitroKeys, OnlyKeys or SoloKeys. They are based on open-source hardware and firmware while YubiKey's are closed source. ssh-keygen is able to generate FIDO authenticator-backed keys which can be either an ecdsa-sk or an ed25519-sk key-pair. The sk extension stands for security key. Note that an ed25519-sk key-pair is only supported by new YubiKeys with firmware 5.2.3 or higher which supports FIDO2. This means YubiKeys with firmware below 5.2.3 are only compatible with ecdsa-sk key-pairs. If possible, generate an ed25519-sk SSH key-pair for this reason.
We can check the firmware version of a YubiKey with the following command.
$ lsusb -v 2>/dev/null | grep -A2 Yubico | grep "bcdDevice" | awk '{print $2}'
4.37