If you think "layman" is related with the sexual connotation of the verb to "lay", you are overthinking the idiom. Layman just means non-professionals and it is used to distinguish them from professionals. Merriam-Webster explains its etymology which will help you understand why it is OK to use in any context.
Layman began its run in English as the open compound "lay man." In this context, "lay" is an adjective that can mean "belonging or relating to those not in holy orders," "not of the clergy," and "not ecclesiastical." The origins of "lay" and "layman" can be traced back through French and Late Latin to Greek laikos, meaning "of the people." Layman was originally used to distinguish between non-clerical people and the clergy, but it was soon also being used to distinguish non-professionals from professionals in a field (such as law or medicine).
You could rephrase your example sentence to:
I want to explain these terms in a succinct manner.
But I don't think "in a succinct manner" is better than "in layman's terms".