As a handwaving definition, “crossover” is a generic term to describe a smooth transition between two separate phases of matter, upon changing some (thermal/non-thermal) parametres.
Well-known examples in strongly-correlated condensed matter are BEC-BCS crossover and the Kondo effect. In ultracold Fermi gases, a BEC-BCS crossover occurs by tuning the interaction strength, where the system “crosses over” from a Bose-Einstein-condensed (BEC) state to a Bardeen-Cooper-Schrieffer (BCS) state without encountering a phase transition. In certain metallic compounds with a dilute concentration of magnetic impurities, the Kondo effect occurs when the temperature is reduced below a certain threshold, and the system “crosses over” from a normal Fermi liquid phase (weakly-coupled to impurities) to a “local” Fermi-liquid phase where conduction electrons form strongly-bound spin-singlets with the impurity electrons, without any phase transition involved.
The key point is that in a crossover, no canonical “phase transition” occurs, although there is a drastic change in the phase of the system. Remember that “phase transitions” are defined à la Ehrenfest (discontinuities in the derivatives of the Free energy functional) or à la Landau (symmetry-breaking mechanisms). A crossover is thus not associated with a change of symmetry, or a discontinuity in the free energy functional. Typically, it occurs in a region of the phase diagram, rather than a singular point.
Microscopically, in a crossover, the ground-state of the system changes radically (so that any perturbative expansion around the original ground-state will fail to capture the new ground-state), but in a very smooth manner; ie., without any discontinuity in the thermodynamic observables (which is the hallmark of phase transitions).
Beyond that handwaving description above, if we define a phase as a fixed-point for the renormalization-group (RG) flow [see eg. Ref. 1], then we arrive at a more precise definition for a crossover. Crossover happens when more than one critical fixed-point appear in the phase diagram [Ref. 2, sec. 3.11]. In such cases, the phase of the system depends on several relevant parametres (in the RG sense). The criticality is therefore richer: Tuning these parametres leads to different types of criticality (or universality classes).
Ref. 2 provides a simple instance of crossover for a Heisenberg model with a uniaxial anisotropy:
$$ H = -J \sum_{\langle i ,j \rangle} \mathbf{S}_i \cdot \mathbf{S}_j - D \sum_i (S_i^z)^2 $$

The figure shows critical behavior of the Heisenberg universality type for $ D = 0 $. At high temperatures, the system is in a paramagnetic (disordered) phase, and as one lowers the temperature (below $T_c$) the system orders.
For a finite $D$, when $ D > 0 $, the critical behaviour of the anisotropic Heisenberg model is governed by an Ising-type fixed-point (marked with ‘I’ in the figure), while its critical behavior for $ D < 0 $ is determined by an XY-type fixed-point. These are two radically different phases (and universality classes), and correspond to disparate ground-states. This indicates also that the Heisenberg fixed-point with $ D = 0 $ has two relevant variables, $ t \propto T − T_c $ and $D$ (besides the external field).
Therefore at $ D = 0 , T = T_c $, we will observe a “crossover” phenomenon.
[1] Pacciani, L. (ed). “Statistical Mechanics”, WikiToLearn, sec. “The Renormalization Group”.
[2] Nishimori, H. and G. Ortiz, “Elements of Phase Transitions and Critical Phenomena” (2010) [wcat].