$\infty$-operads as symmetric monoidal $\infty$-categories

We use Lurie's symmetric monoidal envelope functor to give two new descriptions of $\infty$-operads: as certain symmetric monoidal $\infty$-categories whose underlying symmetric monoidal $\infty$-groupoids are free, and as certain symmetric monoidal $\infty$-categories equipped with a symmetric monoidal functor to finite sets (with disjoint union as tensor product). The latter leads to a third description of $\infty$-operads, as a localization of a presheaf $\infty$-category, and we use this to give a simple proof of the equivalence between Lurie's and Barwick's models for $\infty$-operads.