Washington (CNN) A day after the House voted to formalize the procedures of the impeachment inquiry into President Donald Trump, House Speaker Nancy Pelosi defended the ongoing investigation by arguing that the President's actions with respect to Ukraine left Democrats with no choice but to take action.

"What the President did vis-a-vis the President of Ukraine just removed all doubt that we had to act," Pelosi said in an interview with David Westin on Bloomberg's "Balance of Power" that aired Friday.

The comments come in the wake of a consequential and contentious floor vote on Thursday that marked the first time the full House chamber took a vote related to the inquiry. Democrats are now gearing up to shift into a new, more public phase of the inquiry where they will face increasing pressure to make their case to the American public.

The resolution the House voted to approve provides the procedural details for how the House will move its inquiry into its next phase as it investigates a whistleblower complaint alleging that the President attempted to pressure the Ukrainian President during a July 25 phone call to interfere in the 2020 presidential election by investigating the family of his potential political rival, former Vice President Joe Biden.

The resolution passed largely along party lines. House Republicans were united in voting against the resolution, while two House Democrats, Reps. Jeff Van Drew of New Jersey and Collin Peterson of Minnesota, split with their colleagues to vote against the resolution.