The Creative Commons blog published a nice, clear and brief explanation of public domain (Vollmer, 2017):
From a legal perspective, the public domain is the space where no intellectual property rights exist. This means that works in the public domain may be used without any restrictions whatsoever.
This means that works can be used by anyone for any purpose without crediting the source or providing compensation. However, as a student, you are still bound by plagiarism rules, which say that you must credit all sources used. As a professional, you will be bound by ethical and moral standards.
In addition, the work has to be in the public domain in the country where the use will be available. If you publish a work online, and it uses a significant portion of another work, it must be in the public domain everywhere it would be available on the internet.
Works enter into the public domain in different ways. First, works whose copyrights have expired are in the public domain (Vollmer, 2017).
In Canada, with the signing of a new free-trade treaty between Canada, the US and Mexico (CUSMA), a new copyright-protection period went into effect in 2023: 70 years after the death of the creator. This means that no new items will come into public domain in Canada until 2043. It doesn't matter where the creator lived or worked.
Each country sets this period individually, so it is different around the world. The US has a much more complicated calculation that sets copyright for a much longer period. Copyright and public domain are determined by the country in which the item is being used. Wherever you intend to publish something, you need to abide by the copyright laws of that country.
Second, works can enter the public domain if authors put them there before the copyright expires. The is made possible by using the CC0 Public Domain Dedication. This tool allows anyone to waive their copyright and place a work directly into the global public domain—prior to the expiration of copyright (Vollmer, 2017).
You don't have to apply a CCO license to release your works into the public domain, but it is an easy and clear way to do so. Once you relinquish copyright, you can't get it back. However, you may retain moral rights, which gives the creator certain rights despite not owning copyright anymore.
And finally one more way a work gets into the public domain:
Third, some works are in the public domain because they were never subject to copyright protection in the first place!
If you recall from What is covered by copyright?, these include general facts, data, works that can't be deemed original, etc. Here's the list from the CC blog:
However, some of these might be trademarked.