A banned book is a book that has been removed from access based on a group or person's objection to the book.
A ban is a successful removal of materials where is a challenge is an attempt to get a book or item banned. A challenge is the first step in the process of banning books. A restriction is limiting access to a material, either from a group of people or reducing access.
Book bans happen for a variety of reasons, but most take place either in Grade School or Public libraries and are initiated by parents and other patrons.
As for why changes with the age. In 2021 the primary reason books were challenged was due to content considered "sexually explicit" and therefore harmful to children. Other topics included LGBTQIA+, Critical Race Theory, the book was "Woke", or obscenity.