This indicates that IntelliJ may not have the right TOMCAT_HOME/CATALINA_HOME environment variable set. You can pull up IntelliJ's Preferences and check that they're set appropriately under the Path Variables pane.

https://www.jetbrains.com/help/idea/2016.2/path-variables-2.html

If that doesn't help, check your Tomcat deployment to make sure that it has a lib/catalina.jar directory and file.

Thanks,
Josh