https://www.sciencedaily.com/releases/2020/05/200515144650.htm

Surprisingly, the Earth had nearly ice-free conditions with carbon dioxide levels not much higher than today and had glacial periods in times previously believed to be ice-free over the last 66 million years, according to a paper published in the journal Science Advances.

"Our team showed that the Earth's history of glaciation was more complex than previously thought," said lead author Kenneth G. Miller, a Distinguished Professor in the Department of Earth and Planetary Sciences in the School of Arts and Sciences at Rutgers University-New Brunswick. "Although carbon dioxide levels had an important influence on ice-free periods, minor variations in the Earth's orbit were the dominant factor in terms of ice volume and sea-level changes -- until modern times."