What is the difference between outputs, outcomes, and impact in a project?

I always get confused between these three terms and I’ve been a bit embarrassed to ask before because everyone else seems to know. We’re putting together a grant proposal and they’re asking us to describe our ‘outcomes and impact’ and I want to make sure I’m answering the right question. Like if we run a training workshop for 30 people — is that an output or an outcome? And impact feels like a really long-term thing — how do you even measure that? Any plain-English explanation would be really helpful.