A Josephson tunnel junction which is rf driven near a dynamical bifurcation point can amplify quantum signals. However, the bifurcation point will exist robustly only if the electrodynamic environment of the junction meets certain criteria. We develop a general formalism for dealing with the nonlinear dynamics of a Josephson junction embedded in an arbitrary microwave circuit. We find sufficient conditions for the existence of the bifurcation regime: (a) the embedding impedance of the junction needs to present a resonance at a particular frequency ${\ensuremath{\omega}}_{R}$, with the quality factor $Q$ of the resonance and the participation ratio $p$ of the junction satisfying $Qp⪢1$, and (b) the drive frequency should be low frequency detuned away from ${\ensuremath{\omega}}_{R}$ by more than $\sqrt{3}{\ensuremath{\omega}}_{R}∕(2Q)$.