Found it!
The main problem is in this line:
services.AddMvcCore().AddJsonFormatters(options => options.ContractResolver = new CamelCasePropertyNamesContractResolver());
I noticed that by switching from AddMvcCore() to AddMvc(), the authorization suddenly started working! After digging through the ASP.NET source code, to see what AddMvc() does, I realized that I need a second call, to IMvcBuilder.AddAuthorization().
services.AddMvcCore()
.AddAuthorization() // Note - this is on the IMvcBuilder, not the service collection
.AddJsonFormatters(options => options.ContractResolver = new CamelCasePropertyNamesContractResolver());