Cartoonish male and female nudity in at least 4 to 5 episodes. Bare chests and buttocks are typically seen, but the pubic region is occasionally very brief on display as well.
There are crude jokes for male and female genitalia.
Some crass and crude sex jokes sprinkled throughout.
Almost no nudity in the 2nd anthology. Genitalia is on display in a circus in the final episode, "The Drowned Giant".
In one episode, there is implied sex.
There are occasional scenes implying sexual encounters and acts.
Season 3 contains no graphic nudity, which is very tame compared to the first two seasons.
Lots of male genitalia albeit largely computer generated. More infrequent female genitalia, some nudity less severe. Also, they're not usually real people.
Multiple sex scenes.
Season 3 is free from nudity.
Some episodes have nudity, but some don't. The majority of it occurs in Season 1 though, and it gets tamer as the show progresses.
Nudity is never highly explicit and it is always animated. Therefore, it's in less detail than it otherwise would've been.
Original premise of the first season mainly focused on combining futuristic themes, with lots of gore and violence and an explicit sex scene. Significantly toned down in the following seasons.
Sex becomes less frequent as the series goes on. Season 1 has multiple scenes of sex, Season 2 has one scene of sex, Season 3 has no sex.
Season 4 has one episode where most of the characters are naked and wearing body paint for the run-time. Buttocks are clearly visible. Nipples are visible but mostly obscured by body paint. Genitalia are obscured by a "cup".
S 4 E 2 : Cyborg female breasts throughout episode.
S 4 E 6 : body paint episode with nudity.