Let me talk about my own experience. When I print, if it is a fully enclosed 3D printer, it does have a taste in the process of printing pla materials, but the taste is very light and delicious, and the taste is not big.
If it is an open 3D printer, you can't smell anything at all, even if you are close. I got the answer from my own experience.
I don't know whether it is poisonous or not. I only know that during the printing process of FDM printer, PLA is proved to have the least harmful emission, and most of them will emit lactide, a non-hazardous chemical.