Long story short:
change audio output device to something else and then back to the desired device
Full version:
I know it's bit outdated, but still. I've just run into similar problem on Ubuntu GNOME 15.10 - everything worked apart Firefox. I remember lately using my laptop with TV via HDMI and changing sound output to it. Today, in my "Sound" application, I had only one position available: "Speakers - Built-in audio". Plugging in headphones to my dock or socket on laptop's side didn't change a thing.
I managed to get it working with some workaround - I suspected that if I will be able to choose something else from the output devices list and then back to "Speakers - Built-in audio", Firefox will be updated with this info. Luckily, I had some USB speakers in the office and it did the trick - new device appeared on the list so I switched to it - sound was working. Back to "Speakers ..." - working.
It looks like some small bug (or maybe that's intentional) when there is only one device on the list, it doesn't refresh selection when clicked.