ISA should always (where possible) be a domain member anyway so that you CAN use AD if you wanted as opposed to just a simplified LDAP query - both work but AD membership for the ISA box is best-practice.
However, ISA operates at layer 3 and above up to layer 7 - therefore whether the machines are members of the domain is really irrelevant apart from your own control of which machines can be used.
ISA has absolutely NO idea whether a MACHINE is authenticated within AD or not. ISA DOES care though whether the USER is a domain member or not.
The machines are normally configured through dhcp using option 252 and the wpad file thereby setting the proxy entries within the browser to ensure all users go through proxy (ISA) in the first place. Because this is a dhcp setting, it only applies to when users are on your networks and requires no installation of software.
If the users have AD accounts then you can control them normally. If they do not then in reality, you should not even be allowing them onto your network in the first place.
In the latter condition, I would personally add another NIC to the ISA server and let them connect through there to the internet whilst publishing internal services - effecdtively a three-legged template implementation.