The statement of Sri Krishna in the sloka quoted, is very subtle in nature.
इदं ते नातपस्काय नाभक्ताय कदाचन।
न चाशुश्रूषवे वाच्यं न च मां योऽभ्यसूयति।।18.67।।
This [knowledge] should never be imparted to one who does not observe austerities; to him who has no devotion; to him who has no desire to listen; and to him who is indignant towards Me.
The words/phrases austerities, devotion, no desire to listen, indignant used in the meaning of the sloka in question, can be interpreted in a different manner also.
These can be applied not only to devotees of Sri Krishna , but to devotees of other gods, jnanis and duty minded persons as well.
Sri Krishna himself taught Arjuna about Karma Yoga (कर्मण्येवाधिकारस्ते मा फलेषु कदाचन। - BG 2.47)
A devotee/jnani/karma yogi or an atheist, whoever follow austerities for self discipline, will be devoted to their work also. In fact karma yogis/atheists have more practical bent of mind.
So this sloka refers to all the persons, who have commitment towards his work, have a self discipline. Further, it is easier to make a person with commitment towards work, understand subtle spiritual aspects.
However, we can never teach spiritual concepts to persons, who feign devotion towards the God, but have no commitment in achieving his goal.
By the way, as @user30612 rightly pointed out in his/her answer, the sloka in 18.70 allows studying of Gita by anyone.
अध्येष्यते च य इमं धर्म्यं संवादमावयोः।
ज्ञानयज्ञेन तेनाहमिष्टः स्यामिति मे मतिः।।18.70।।
And he who will study this sacred conversation between us two, which is conducive to virtue, by him I shall be adored through the Sacrifice in the form of Knowledge. This is My judgement.
The only pre-requisite for spiritual matters is commitment (devotion) towards one's work, steadfastness in the work.