Some episodes have some references but there is never and sex and nothing is ever too strong.
Strong PG
Violence & Gore
Mild
The episode "Zombie University" contains a lot of blood and gore. Even though the characters are all puppets and the blood is obviously fake but the episode is grey none the less.
PG-13
Profanity
Mild
Very mild profanity including mild swear words like "hell" "ass" and "screw it." Stronger words like "s(feces)" and f(fornicate)" are occasionally used but are always censored.
PG
Alcohol, Drugs & Smoking
None
None
Frightening & Intense Scenes
Mild
The ending of the time machine episode is very emotional.
If the show was on TV it would be rated TV-PG and if it was a movie it would probably be PG-13 for irreverent humor throughout.