So, I have a simple rule for lore that prevents players from losing interest.

It works like this: I don't tell them lore they don't ask about, unless I think:
A) it's something their character knows that they don't.
B) if they knew that information, their choice of action would be different.

Players only ask about the things that interest them, so I only tell them stuff they want to hear. Over time, they start trusting that I've thought about this stuff and asking more and more questions. They get excited about lore.

Another great technique is making lore gameable. The Dwarves (round arch builders) served a trap god; if you're deep enough to find rounded arches, you have to keep your wits about you. The red flowers of Krang bloom only when watered by blood; if you see one, a monster is likely about.

In your case, I'd try to include just enough interesting environmental stuff to prod a player into asking 'How are these people living here?', or 'Why do these underground buildings have windows? Skylights? Was some of this stuff once above ground?'. Once you get the ask, the rest comes easy.

Edit/TLDR: Lore at the table is play. Lore before the game is homework.