Sex is referenced very often in many episodes. The word 'sex' is often used explicitly.
Mild scenes of making out are shown sometimes. They last generally a short time, and no nudity is shown.
Many couples are often seen kissing.
A man and a woman are occasionally shown to be both in bed, but no nudity or sexual activity are ever shown (although it is sometimes clear that they are naked, and often clear that they are/were having sex).
There are a few instances of implied nudity, that is, a significant part of someone's body shown naked. This happens at least two times: one time with one man only, and another with a man and a woman who are declared to be naturists. No breasts, bottoms or genitalia are ever shown.
Seduction is sometimes shown. One time, a man is seen grabbing a woman's breasts in front of her wife and with her authorisation.