I thought I would share this in case it helped someone else.
Here’s the scenario:
I’m at home. I have a domain. I’m using a company laptop, which is part of the company domain. I’m trying to print to my printer at home, but the printer shows offline. The laptop has Windows 7 on it.
The solution is pretty simple. I just needed to authenticate to my server. Trying to access a shared drive on the server prompts for credentials. I entered them, then restarted the printer spooler on the laptop for good measure. I could have just been impatient but the printer still showed offline and I was tired of waiting.
The printer then showed online and the print jobs printed.
Hope this helps someone.