All 3 customers detected it quickly on their own. It sounds from their blog posts that BeyondTrust and Cloudflare both had good alerting that immediately alerted them to the problem. It sounds like 1Password's alerting wasn't as good, and they got lucky that the impacted employee saw a suspicious email saying "here's the report you requested" thought "I didn't request that report" and reported the suspicious email to the security response team.
https://www.beyondtrust.com/blog/entry/okta-support-unit-bre...
https://blog.cloudflare.com/how-cloudflare-mitigated-yet-ano...
https://blog.1password.com/okta-incident/