Hi,
The Canon support sites show an MP210 series CUPS Printer Driver Ver. 10.67.2.0 (OS X 10.5/10.6/10.7/10.8) for OS X Mountain Lion 10.8. It may or may not work with a few newer operating system versions, but one should not expect to use it with macOS 12 Monterey. But you never know.
https://www.usa.canon.com/support/p/pixma-mp210#DOWNLOADS
https://www.canon-europe.com/support/consumer_products/products/fax__multifunctionals/inkjet/pixma_mp_series/pixma_mp210.html?type=drivers&language=en&os=os%20x%2010.8%20(mountain%20lion)
There is a Canon Printer Drivers v3.4 for macOS download from Apple . Printer drivers for some other Canon MP models are listed in the referenced article Printer and scanner drivers for Mac - Apple Support. According to the system requirements, macOS 12 is not compatible. Any use would be entirely experimental. It may not even open/install.
An experimental Gutenprint MP210 driver exists. Whether this driver works with macOS 12 Monterey is unknown. The normal recommendation is to download drivers from a printer manufacturer, or from Apple. Downloads from other sources would be at your own risk.
Resetting the printing system (link below) may be needed between tests. Whatever you do, make sure that you have backup copies of all important files before testing anything. Software conflicts can never be ruled out.
Add a printer to your printer list so you can use it on Mac – Apple Support (UK)
Reset the printing system on your Mac to solve a problem – Apple Support (UK)