Can't download objects from S3 using the URL link

I have a policy like below which I've attached to several users:

{
    "Version": "2012-10-17",
    "Statement": [
        {
            "Action": [
                "s3:*"
            ],
            "Effect": "Allow",
            "Resource": [
                "arn:aws:s3:::foo-bar",
                "arn:aws:s3:::foo-bar/*"
            ]
        }
    ]
}

The intent of this policy is that these users would have full control over the bucket foo-bar. However, I'm noticing that even though the users can download the objects in these buckets using Accesskey and Secretkey. They can not download the objects via a URL e.g. https://s3.amazonaws.com/foo-bar/test.docx

I am currently logged in as a IAMManager user and also have AmazonS3FullAccess. I can see the list of objects in this bucket but when I click the URL I can't download them. I can, however, download them via clicking the Download button.

Question

Is there anything I need to change in my policy OR the objects can only be downloaded via the URL when they are publicly available?