If you have to explain the joke to the person it was about, it probably wasn’t kind.

A joke that needs unpacking for its subject was not built for them to enjoy. The explaining is where it becomes clear who the audience was, because you end up describing the thing about them that was supposed to be funny, out loud, to their face. Humour that works on everyone present does not need that step.

Watch who laughs next time and who goes quiet. If someone asks what you meant, the honest answer is usually the sign to apologise rather than to clarify. Jokes about a shared situation almost always land better than jokes about a person.