Netflix has a category called "Adult animation" that has animation designed for a mature audience (BoJack, Archer etc.)
It's also fairly common to see "Shows for kids", "Shows for teenagers" etc, and "Shows for adults" doesn't imply shows of an adult-orientated nature.
Shows like 'The Simpsons' are clearly shows for adults
If you're looking for an adjective to insert before "shows", "mature shows" could also work.
Shows like 'The Simpsons' are clearly mature shows
Although this could imply shows with a mature theme rather than being shows for adults.
Edit: The reason I didn't include "adult-orientated" in my answer was because the first google result from www.lawinsider.com states;
Adult-Oriented means, with respect to a Service or program, that such
Service or program is erotic in nature and features nudity.