windows authenticated website prompt for firefox but doesn't for internet explorer

You'll need to enable NTLM authentication in Firefox. Instructions here.

Open Firefox and type “about:config” in the address bar. (without the quotes of course)
In the ‘Filter’ field type the following “network.automatic-ntlm-auth.trusted-uris”
Double click the name of the preference that we just searched for
Enter the URLs of the sites you wish to pass NTLM auth info to in the form of: http://intranet.company.com,http://email.company.lan
Notice that you can use a comma separated list in this field.

Open Firefox
In the Address bar type about:config
In the search/filter field type ntlm
Set network.automatic-ntlm-auth.trusted-uris to .company_name.com
Set network.automatic-ntlm-auth.allow-non-fqdn to true by right-clicking and selecting "toggle"
In the search/filter field type negotiate
Set network.negotiate-auth.trusted-uris to .company_name.com
Set network.negotiate-auth.allow-non-fqdn to true by right-clicking and selecting "toggle"
Click OK if present
Restart Firefox.

From http://perfect-blog-url.blogspot.com/2013/07/firefox-asks-for-user-name-and-password.html

You have to add the hostname (URL) to the network.automatic-ntlm-auth.trusted-uris setting within about:config in Firefox.

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