Check by running

dsregcmd /status

Sample device state output

+----------------------------------------------------------------------+
| Device State                                                         |
+----------------------------------------------------------------------+
             AzureAdJoined : YES
          EnterpriseJoined : NO
              DomainJoined : YES
                DomainName : HYBRIDADFS
+----------------------------------------------------------------------+

Resource:

https://docs.microsoft.com/en-us/azure/active-directory/devices/troubleshoot-device-dsregcmd