diff --git a/doc/modeling.rst b/doc/modeling.rst
index 33b2aeb7..2612cf81 100644
--- a/doc/modeling.rst
+++ b/doc/modeling.rst
@@ -14,8 +14,8 @@ MJCF models can represent complex dynamical systems with a wide range of feature
 these features requires a rich modeling format, which can become cumbersome if it is not designed with usability in
 mind. Therefore we have made an effort to design MJCF as a scalable format, allowing users to start small and build
 more detailed models later. Particularly helpful in this regard is the extensive :ref:`default setting <CDefault>`
-mechanism inspired by the idea of Cascading Style Sheets (CSS) in HTML. It enables users to rapidly create new models
-and experiment with them. Experimentation is further aided by numerous :ref:`options <option>` which
+mechanism inspired by the idea of Cascading Style Sheets (CSS) inlined in HTML. It enables users to rapidly create
+new models and experiment with them. Experimentation is further aided by numerous :ref:`options <option>` which
 can be used to reconfigure the simulation pipeline, and by quick re-loading that makes model editing an interactive
 process.
 
diff --git a/doc/overview.rst b/doc/overview.rst
index d87fa416..4b185527 100644
--- a/doc/overview.rst
+++ b/doc/overview.rst
@@ -119,8 +119,8 @@ Powerful yet intuitive modeling language
    MuJoCo has its own modeling language called MJCF. The goal of MJCF is to provide access to all of MuJoCo's compute
    capabilities, and at the same time enable users to develop new models quickly and experiment with them. This goal is
    achieved in large part due to an extensive :ref:`default setting <CDefault>` mechanism that resembles Cascading Style
-   Sheets (CSS) in HTML. While MJCF has many elements and attributes, the user needs to set surprisingly few of them in
-   any given model. This makes MJCF files shorter and more readable than many other formats.
+   Sheets (CSS) inlined in HTML. While MJCF has many elements and attributes, the user needs to set surprisingly few of
+   them in any given model. This makes MJCF files shorter and more readable than many other formats.
 
 Automated generation of composite flexible objects
    MuJoCo's soft constraints can be used to model ropes, cloth, and deformable 3D objects. This requires a large