Correct way to detach from a container without stopping it

Type Ctrl+p then Ctrl+q. It will help you to turn interactive mode to daemon mode.

See https://docs.docker.com/engine/reference/commandline/cli/#default-key-sequence-to-detach-from-containers:

Once attached to a container, users detach from it and leave it running using the using CTRL-p CTRL-q key sequence. This detach key sequence is customizable using the detachKeys property. […]