I was able to figure this out. I do indeed need to configure an uplink VLAN (or use the default vlan) and assign it to the uplink port like so:
set interfaces ge-0/0/23 native-vlan-id 1000 set interfaces ge-0/0/23 unit 0 family ethernet-switching vlan members 1000
After doing this, I am able to ping the irb.2 interface from my router. Thanks for the help!