Can you unstake Lido ETH?

Can you please clarify for me? I've been hearing a lot about staking Lido ETH, but I'm not entirely sure how it works. So, my question is, is it possible to unstake or withdraw my Lido ETH once it's been staked? And if so, what are the steps involved in doing so? Also, are there any fees or penalties associated with unstaking? I'd like to have a better understanding of this process before I decide to stake my ETH. Thank you for your help!