why does my canon ip8720 restart print job halfway through

My Printer is connected via usb cable to a Windows 10 machine.  Invariably when I print multiple page documents (primarily PDF), the printer will 'choke' on one page, doing a partial print, spit the page out, and then start the print job over from the beginning.  Obviously, this waste of paper and ink is more than annoying. I just went through this with a 12 page document and the job restarted twice. I finally had to cancel the queue and print one page at a time.  Any suggestions?