I tracked my footage in Blender and exported the camera to FBX. In Maya, the position of the camera is off, and the camera no longer matches the background. I've checked the focal length is the same, so I don't know what attribute causes them to mismatch.
FBX Export settings:
Scale: 0.01
Z Forward
Bake Animation Simplify: 0
I basically followed this tutorial and it has worked for me in the past:
https://www.youtube.com/watch?v=xUX3tOn3LZM&list=PL2iuySRlylw8Ka1-b_DVIU492ougXbjq2&index=4