The only succulents I know of that can live in indirect-only/office light situations for any real length of time are Sansevierias and Ponytail Palms. They won't grow as quickly as they do in brighter light, but they manage and won't get etiolated.
Haworthias, most Aloes, and tropical cacti like Schlumbergera (holiday cacti) can do well indoors year round, but do need fairly bright light and at least a few hours of direct sun and should be right up in a window.
Pretty much every other succulent I know of needs very bright light all day, including 5-6 hours of direct sun, when they are actively growing. I have managed to get by without grow lights by putting mine outside in summer, and in a south window in winter where they get 5-7 hours of direct sun most days. If that setup isn't an option, then grow lights are a necessity.
