Notifications are displayed on the lock screen with an app icon by default. Samsung's One UI also allows you to display a detailed or abridged notification on the lock screen, with or without content or background transparency at the user's discretion.

Android 10 (One UI 2.0)
Step 1:  Open the  Settings
Step 2:  Tap on  Lock screen
Step 3:  Tap on  Notifications
Step 4:  Tap on  View style
Step 5:  Tap on  Details
Step 6:  Adjust the desired  settings
  1. Open the Settings
  2. Tap on Lock screen
  3. Tap on Notifications
  4. Tap on View style
  5. Tap on Details
  6. Adjust the desired settings

Samsung Instructions