Simultaneous to posting here, I had reached out to Bitwarden about this. They suggested the following:
An easy way to obtain the proper URI for an Android app is to visit the app’s page in the Google Play Store, tap the share button, and paste the copied link somewhere you can read it. The link will look like https://play.google.com/store/apps/details?id=com.twitter.android. The value after id= is your URI, in this case com.twitter.android.
It worked great for me, too.