Custom post type change permalink

I have created custom post type dart and Currently, The permalink looks like this: http://example.com/dart/%postname%/

but i want like this: http://example.com/docs/dart/custom-taxonomy/%postname%/

( docs/dart/%dart-level%/%post-name%/ )

Custom Post Type : dart

Custom taxonomy : dart-level

I'm able to add taxonomy but how to add 'docs' word before dart

here is my code:

function tbc_post_type_dart_doc()
{

    $supports = array(
        'title',
        'editor', 
        'author', 
        'thumbnail', 
        'excerpt',  
        'post-formats',
    );

    $labels = array(
        'name' => _x('Dart Docs', 'plural'),
        'singular_name' => _x('Dart Doc', 'singular'),
        'menu_name' => _x('Dart Docs', 'admin menu'),
        'name_admin_bar' => _x('Dart Docs', 'admin bar'),
        'add_new' => _x('Add New Dart Doc', 'add new'),
        'add_new_item' => __('Add New Dart Doc'),
        'new_item' => __('New Dart Doc'),
        'edit_item' => __('Edit Dart Doc'),
        'view_item' => __('View Dart Doc'),
        'all_items' => __('All Dart Docs'),
        'search_items' => __('Search Dart Docs'),
        'not_found' => __('No Dart Documentation Found.'),
    );

    $args = array(
        'supports' => $supports,
        'labels' => $labels,
        'public' => true,
        'query_var' => true,
        'show_ui' => true,
        'publicly_queryable' => true,
        'rewrite' => array(
            'with_front' => false,
            'slug' => 'dart'),
        'has_archive' => "dart",
        'hierarchical' => true,
        'show_in_rest' => true,
        'supports' => array('title', 'editor', 'thumbnail'),
        'taxonomies'          => array( 'dart-level' ),
        'menu_icon' => 'dashicons-media-document',
    );

    register_post_type('dart-doc', $args);

    register_taxonomy(
        "dart-level",
        array("dart-doc"),
        array( 
            "hierarchical" => true,
            'show_in_rest' => true,
            'show_ui' => true,
            'query_var' => true,
            'public' => true,
            'publicly_queryable' => true,
            'labels' => array(
                'name' => "Dart Levels",
                'singular_name' => "Dart Level",
                'search_items' =>  __( 'Search Dart Levels' ),
                'all_items' => __( 'All Dart Levels' ),
                'parent_item' => __( 'Parent Dart Level' ),
                'parent_item_colon' => __( 'Parent Dart Level:' ),
                'edit_item' => __( 'Edit Dart Level' ),
                'update_item' => __( 'Update Dart Level' ),
                'add_new_item' => __( 'Add New Dart Level' ),
                'new_item_name' => __( 'New Dart Level Name' ),
                'menu_name' => __( 'Dart Levels' ),
              ),
            "rewrite" => array( 
                'slug' => 'dart', 
                'with_front'=> false,
            )),
        );
    
}
add_action('init', 'tbc_post_type_dart_doc', 0);