Does it list a number or triple hyphen in the Response Time column in WiFi Guard?
If it's three hyphens, it means the device was detected through so called ARP cache. In this case it may indicate the device was there some time ago, but may not currently be present.
You could try turning the printer off, then launching a command prompt as admin and type
arp -d *
This will flush the ARP cache. After that rescan your network with WiFi Guard and the unknown device will probably be gone.