Resolution
Upgrading to Pipeline Plugin v2.0 requires a minimum Jenkins core version of 1.642.3. Pipeline v2.0 also has a dependency on the following plugins:
Here is a link to a post by Jesse Glick about Pipeline 2.x plugins.
If you upgrade to Pipeline Plugin v2.0 and experience an issue, please generate a new Support Bundle, decompress it, and check the failed.txt file inside the plugins directory. The failed.txt file will show missing plugin dependencies.