“The only way to see the curve of the Earth is to fly more than 6 miles (10 kilometers) above its surface.”
But, if the horizon is smooth water (e.g. sea), and the seeing conditions are favorable, then curvature is noticeable if one looks for it. I’ve seen it many times, but not always. The horizon isn’t just what is directly in front of us, but it is left and right of a forward look.
So, if we can see, say, 10 miles left of center, then the drop is 67 ft. That drop will appear as an angular drop of 4 arcminutes, 4x the minimal resolution of the eye, thus noticeable.
Also, there are certain cloud conditions where it appears obvious that the bottom level of the clouds are below the horizon, thus arguing for curvature.
Then there is the usual argument of initially seeing only the top of ships at great distance due to curvature.
“Ever since the ancient Greeks first made observations of the circular Moon and the skies, scientists have known that the Earth is a sphere.”
I'd like to add that Aristotle, and others no doubt, were quick to point out that the Earth’s spherical form was seen during lunar eclipses since the Earth’s shadow upon the Moon is always curved.
Aristotle also argued that since everything falls toward the center of the Earth, then the Earth would necessarily be a sphere. [His works were adopted within the Church, especially at the Council of Trent, so Christianity had few that favored a flat Earth].