Here's an answer with a bit of a geometric flavor.
Clearly, the hyperboloid contains no lines that are parallel to any of the coordinate axes; it also contains no points $(x,y,z)$ such that $x^2 + y^2 < 1$. Consequently, an embedded line $\ell$ must pass through a point $P$ on the $xy$-plane, which must in fact lie on the unit circle; we can write $P = (\cos\theta, \sin\theta, 0)$ for some $\theta$. Moreover, the projection of $\ell$ into the $xy$-plane must be tangent to the unit circle, so its direction vector, $v$, has the form $(\sin\theta,-\cos\theta,c)$ for some $c$. That is, the line has this parameterization:
$$\ell : (\cos\theta, \sin\theta, 0 ) + t (\sin\theta,-\cos\theta, c)$$
and we have
$$0 = x^2 + y^2 - z^2 - 1 = (\cos\theta+t\sin\theta)^2+(\sin\theta-t\cos\theta)^2+(ct)^2-1 =t^2(c^2-1)$$
which must hold for all $t$, so that $c=\pm 1$.
Since $P$ is on the plane:
$$A \cos\theta + B \sin\theta + D = 0 \qquad \implies \qquad D = -\left(A \cos\theta+ B \sin\theta\right)$$
Since $v \perp (A,B,C)$:
$$v\cdot(A,B,C) = A\sin\theta - B\cos\theta \pm C = 0 \qquad \implies \qquad C = \mp \left( A \sin\theta - B \cos\theta \right)$$
Therefore,
$$C^2 + D^2 = A^2 + B^2 \qquad (\star)$$
Note: We have shown that $(\star)$ holds whenever the plane meets the hyperboloid in even a single line. This is consistent with the fact that $(\star)$ removes only a single degree of freedom in the plane equation.