If you want APA style as mentioned in the title, you should probably load APA style via
\usepackage[backend=biber, style=apa, natbib=true]{biblatex}
instead of style=authoryear-icomp,. The latter is just a 'generic' author-year style (with ibid. and compressed citations) and not APA.
\documentclass[american]{article}
\usepackage[T1]{fontenc}
\usepackage{babel}
\usepackage{csquotes}
\usepackage[backend=biber, style=apa]{biblatex}
\addbibresource{biblatex-examples.bib}
\begin{document}
Lorem \autocite{sigfridsson,companion,worman,geer}
\printbibliography
\end{document}

Note that there are some situations where APA style wants more than one author + et al., namely when two papers with different lists of authors would abbreviate to the same first author + et al.: https://apastyle.apa.org/style-grammar-guidelines/citations/basic-principles/same-year-first-author. biblatex-apa implements this rule, so you may occasionally see more than just first author + et al.
If you don't want real APA style and can live with a generic author-year, you want to change the value of the maxcitenames and mincitenames options (see e.g. biblatex: displaying all authors of multi-author works in the bibliography).
\documentclass[american]{article}
\usepackage[T1]{fontenc}
\usepackage{babel}
\usepackage{csquotes}
\usepackage[backend=biber, style=authoryear-icomp, mincitenames=1, maxcitenames=2]{biblatex}
\addbibresource{biblatex-examples.bib}
\begin{document}
Lorem \autocite{sigfridsson,companion,worman,geer}
\printbibliography
\end{document}

Again, biblatex tries to ensure that different lists do not collapse to the same first author + et al., but this feature can be disabled via the uniquelist option. See Set limit to one author when using "et al." in biblatex and Biblatex: Have only one author in citation -- multiple articles with same first author, different year. A related feature that sometimes throws people off is the uniquename feature: Literature with Biber generates strange citations: firstnames appear erratically.
\autociteis a high-level citation command whose output can be changed with theautociteoption. In case of the two documents here it basically behaves like\parencite. For real APA style you'll want to use\parenciteand\textcitedepending on whether you have a parenthetical or narrative citation. I normally prefer not to use\cite, but in theory we could redefine\citeto do what\autocitedoes. But then you can just do a search-and-replace job in your document and don't need to mess with the definitions. – moewe Aug 04 '22 at 21:45