Nettyprofessor, Firefox Sync will only sync what is locally stored on the user's profile. Do you have a back up of the profile from before the restore? This would be the only way to get that data back. Where the profile path is: Profiles - Where Firefox stores your bookmarks, passwords and other user data

Since Firefox would sync with other devices I was under the impression that it was syncing with a cloud server so I do not have a back up of the original profile. I'm curious if it's not syncing to a cloud server how is it able to sync with my other devices?

Oh it is syncing to a cloud server, however the sync model does not have a master device. For example, if you unattached a device the data of that device would no longer be syncing. Any changes you make to that device offline/disconnected from sync would also be synced when you attached it back. This is bad for back up because the new sync would overwrite anything in the cloud. (Say for example the re attached device did not have any bookmarks, then when it synced the previous bookmarks would not sync back, but not always) This is why its not recommended as a back up. Its a round robin sync and mainly meant for synchronization service between multiple devices running Firefox.