If you follow this link, https://support.hp.com/gb-en/drivers/selfservice/hp-officejet-pro-8210-printer-series/7902063 you can see that according to HP it is supported in Mac OS X Mavericks
make sure the Detected Operating System is Mac OS X 10.9, there is the HP Easy Start
which you probably have and also a Firmware download you may want to install.
The big question is why are you still running Mac OS X 10.9.5 Mavericks, your mac is capable of running the latest macOS Catalina, but don't go there quite yet. It is a cold, dark place.
Your mac can upgrade to High Sierra or warm and fuzzy Mojave.
How to upgrade to macOS Mojave - Apple Support
How to upgrade to macOS High Sierra - Apple Support
Before upgrading make a full back up of your Mac.
Check that third party apps you use have updates available for the new OS.
https://roaringapps.com
Check that your printers/ scanners etc have updated drivers and software available for the new OS.
If you are considering upgrading to Catalina be warned that it does not support 32bit apps.
Your Mac is probably running 32bit apps and these will need to be updated to 64bit apps,
some updates may be free, some may be paid. Use this app to discover which apps you have
are 32bit, https://www.stclairsoft.com/Go64/. Once the list has been created you can then
contact the developers of the apps to see if they provide 64bit updates.
How to upgrade to macOS Catalina – Apple Support