Hi,
Unfortunately, the Canon PIXMA G2410 seems to be a Windows printer. At least the Canon Europe downloads page does not contain any Mac drivers for this exact model. AirPrint is not supported, and the model is not mentioned among the USB-only devices in About AirPrint - Apple Support.
This means that everything else would be experimental. As with any driver experiment, software conflicts cannot be ruled out. Data may be lost. If you proceed, make sure that you know what you are doing, and that you have multiple backup copies of all important files (documents, photos, et cetera).
To begin with, try resetting the printing system and re-adding the printer.
Reset the Mac printing system to solve a problem - Apple Support
Add a printer on Mac - Apple Support
Check whether the operating system suggests a suitable driver. If not, try a driver for another model.
You could also download drivers for other models. However, be careful. There are many third-party web sites (often including parts of a printer manufacturer's name) offering drivers. Use downloads from authentic and official Canon sites only, or from another trustworthy source (such as Apple).
Since there are Windows 7 to 10 drivers for the G2410 from Canon, another approach could possibly be to run Windows in a virtual machine under macOS for printing purposes (may or may not work, depending upon the type of Mac and the Windows version).
