Xfce's window manager crashed for some reason and the simple fix is to run `xfwm4` in a terminal.
If you can't do it in X (because, e.g., the panels/menus are unavailable, Alt+F2 doesn't work), switch to a virtual console (e.g. Ctrl+Alt+F2), login, and type `DISPLAY=:0 xfwm4 --daemon`.
(Use Ctrl+Alt+F7 to switch back to X.)