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What is it to write something "formally"?

Note: this question seems apt for flagging as a duplicate, but I haven't found a duplicate of it yet. Apologies in advance if I haven't done my full due diligence regarding this matter.

Now, I was reading Homotopy Type Theory: Univalent Foundations of Mathematics, and after hundreds of pages of dense symbolism,§ of presumably (I presumed!) formalized text, this passage appears therein (in an appendix):

... in this book we have developed mathematics in univalent foundations without explicitly referring to a formal system of homotopy type theory.

The authors said much earlier (near the beginning) of the text that:

Univalent foundations is closely tied to the idea of a foundation of mathematics that can be implemented in a computer proof assistant. Although such a formalization is not part of this book, much of the material presented here was actually done first in the fully formalized setting inside a proof assistant, and only later “unformalized” to arrive at the presentation you find before you — a remarkable inversion of the usual state of affairs in formalized mathematics.

So now I'm not sure what "formalization" means. I thought it meant writing things out in the way that so many things are written out in that book. Per that book, the authors seem to identify formalization in part with a translation into a computer proof system, like COQ. But didn't we talk of formalization before modern digital computing and proof systems? Is formalization a vague property of a system? But if formalization is meant to dampen ambiguity, and if ambiguity is the handmaiden of vagueness, well...?


§For a not-entirely-representative sample:

from the book

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