I'm aware of how Ancient naval battle occurred such as with Greeks, Romans, Carthaginians, etc. They attempted to ram their ships into the enemy and sink them, or in the case of romans sometimes board them.

But I do not know how naval battles occurred after that period and before the period of gunpowder where they would shoot canons into each other.

By basic question is: In medieval times, say 5th century to pre-canon era, how did ships fight at sea? Would they still attempt to ram each other and board? Or would something else happen?

Thanks in advance!