COPY performance vs insert

The following documentation comment has been logged on the website:

Page: https://www.postgresql.org/docs/12/populate.html
Description:

I think this could be clearer. In particular, performance of COPY vs INSERT
from a query (INSERT INTO ... SELECT FROM ...) or INSERT with a list of rows
(INSERT INTO ... VALUES (), (), (), ...)
Is there any performance benefit with COPY in those cases?