‘SMS Software Inventory Processor failed to process software inventory file “<path>\<name>.SIC”’

I am seeing Component Status Messages with an ID of 3707, the text of which states:

SMS Software Inventory Processor failed to process software inventory file “<ConfigMgr_installation_directory>\inboxes\auth\sinv.box\<name>.SIC” because the file does not have a corresponding discovery record. SMS Software Inventory Processor has moved this file to the Orphans directory as “<ConfigMgr_installation_directory>\inboxes\auth\sinv.box\Orphans\<name>.SIC” and will retry processing it later.