Financial details of the deal have not been disclosed at this time, but Campbell clarified the deal is not for a guaranteed roster spot.
Joseph was originally drafted by the Baltimore Orioles 206th overall in 2008. He played parts of four seasons with Baltimore before joining the Arizona Diamondbacks last year, playing in 20 games and starting in 16.
The 33-year-old slashed .211/.250/.263 with zero home runs and three RBI in 41 plate appearances with Arizona in 2019. He was non-tendered by the Diamondbacks in December, clearing the way for his eventual signing with the Blue Jays.