Minecraft wiki entry for Tiers, associated text: Ancient debris, blocks of netherite, crying obsidian, obsidian, and respawn anchors require a pickaxe to have a mining level of 3 or better.
Blocks of amethyst, blocks of diamond, diamond ore, blocks of emerald, emerald ore, blocks of gold, gold ore, and redstone ore require a pickaxe to have a mining level of 2 or better.
Blocks of copper, copper ore, blocks of iron, iron ore, lapis lazuli blocks, lapis lazuli ore, and lightning rods require a pickaxe to have a mining level of 1 or better.