A caption is included by default if you add a figure or side by side images, but not if you add an image.
To manually add a caption to an image:
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Position the cursor on the right side of the image.
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Press Alt + Enter ⏎ (Windows) or Command ⌘ + Enter ⏎ (Mac) to display the
Element Context Menu.
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Select Caption from the menu.
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Enter a text inside the caption
element.
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Select Save.