Hi Nicole! You can publish directly from Tableau Desktop to Tableau Public without any additional services or features, but that would expose your views and data to the public.
If you need private data, then you'll have to get a Tableau Server or Online (which is just the cloud/SaaS version of Tableau Server) to publish onto a website in interactive, full-featured form. Obviously, you can publish PDFs and images to a website without any additional features.
But if anyone knows differently, please feel free to correct me!