You should be able to upgrade your Mac, according to the specs:
macOS Big Sur - Technical Specifications:
https://support.apple.com/kb/sp833?locale=en_US
I think though jumping from Mavericks to Big Sur is a large jump though.
Likewise check out the other requirements in the article.
I would first recommend downloading High Sierra, this is when the new APFS format was introduced, to make sure your Mac is upgraded with as little issues as possible.
You can download it here:
How to get old versions of macOS:
https://support.apple.com/en-us/HT211683
Under the “Download Mac OS” section, you’ll see the link for High Sierra, this will download the installer, which you can then open and finally run.
Likewise, after that, if you needed Mojave or Catalina, you can also find those in this article, as the earlier OS’.
But yes, I’d recommend first installing High Sierra, or even something before, before jumping to Big Sur.
Hope that helps!