Kupp had both hands on the ball, so as a pro he should've caught it. He really should've attempted to catch it with his palms vertical instead of horizontal. He kind of left his feet a little instead of running through the route.I believe he underestimated the velocity of the ball.
Goff could've thrown the ball a millisecond earlier or just a tad less velocity and hit Kupp on the numbers.
That being said, I put the blame 99% on Kupp. He was drafted as a "Hands, precise route runner" guy and Goff threw a ball that was catchable.