The F.D.A. said it did not appear that the IQOS devices, which will be sold with Marlboro-branded regular and menthol sticks, would appeal to younger people. In Japan and Italy, the devices haven’t attracted use among teenagers, and the product isn’t sold in flavors except for menthol, the F.D.A. noted in its report.

But in an effort to prevent sales of IQOS to minors, the agency said the company would have to submit advertising and marketing plans for review.

The F.D.A. said it still considered IQOS to be a type of cigarette, even though it releases fewer toxic chemicals. That designation means that IQOS must adhere to the same advertising and other federal restrictions. In addition, Philip Morris must include a label warning that nicotine is addictive.

Most public health groups criticized the F.D.A.’s decision. Erika Sward, an assistant vice president of the American Lung Association, said: “Inhaling chemicals and toxins into one’s lungs always poses risks. Lungs are on the front line — and have been showing immediate results of being exposed to chemicals — whether in the workplace, using tobacco products or outdoor air pollution.”

Philip Morris International introduced IQOS in test cities in late 2014. It became nationally available in Japan in the spring of 2016 and quickly became popular. It is now sold in 47 countries.

Philip Morris had hoped to become the first company in the United States permitted to claim that it was selling a new tobacco product that would be considered less harmful than other products, like traditional cigarettes. But the agency is still reviewing its application, first submitted in December 2016, to sell the device under such a label.