Someone signed in with Apple ID

It might be a scam.

Did you provide any potentially damaging information to anyone? If yes, you'll need to follow up, for example, with a credit card company, Apple, Social Security, your bank, etc.

If you gave you Apple ID password to a scammer, then

Change your Apple ID password https://support.apple.com/en-us/HT201355

Here is What to do after you change your Apple ID or password https://support.apple.com/en-us/HT204071

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And, assuming you are using two-factor authentication, Check your Apple ID device list (https://support.apple.com/en-us/HT205064) and remove any device that shouldn't be signed in using the steps in the link.

If there are none that shouldn’t be signed in, then you should not have a problem at this point. But, if an unauthorized device signed in, Change your Apple ID password https://support.apple.com/en-us/HT201355 

Here is What to do after you change your Apple ID or password https://support.apple.com/en-us/HT204071

See these security-related Apple Documents:

 If you think your Apple ID has been compromised https://support.apple.com/en-us/HT201303

Security and your Apple ID https://support.apple.com/en-us/HT201303

iCloud security overview  https://support.apple.com/en-us/HT202303

Ways to keep your information safe on Mac https://support.apple.com/en-gb/guide/mac-help/mh11402/mac

Using app-specific passwords https://support.apple.com/en-us/HT204397

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Finally, you may find this information to be helpful:

Learn about Phishing, Scams, Apple Practices,etc.

 See If you see apple.com/bill, itunes.com/bill, or an unfamiliar charge on your statement https://support.apple.com/en-us/HT201382

See Identify legitimate emails from the App Store or iTunes Store https://support.apple.com/en-us/HT201679

See How to avoid scams when using Apple Pay to send and receive money https://support.apple.com/en-us/HT208226

For scam related information from Apple including reporting scams to Apple see Avoid phishing emails, fake 'virus' alerts, phony support calls, and other scams https://support.apple.com/en-us/HT204759

Identify scams related to purported apple notifications--Eric Root.

“Apple will always address you by your name or the name they have on file for you, not Dear Customer, Dear Client or by using your e-mail address. The e-mail will be from @apple.com or @iTunes.com. E-mail addresses can be spoofed. You can go to Mail/View/Message/Show all Headers to see more. Apple emails won't have poor grammar/misspellings. Apple e-mails will never contain an attachment. Apple will never request personal information by email such as Social Security numbers, your Mother’s maiden name or full credit card numbers. … 

The only exception to the above I have noticed is if you order something from the Apple Store (apple.com), your receipt will be addressed to Dear Apple Customer. That is a receipt for a purchase you initiated.”

An Apple email would be from apple.com or iTunes.com, not Yahoo. It is a scam. As a precaution, change your password.

 Apple ID Password Change.      

 What to do after you change your Apple ID or password - Apple Support     I suggest doing this before you change your Apple ID or password.