Can old tooth discoloration also be improved with whitening procedures?

My teeth weren't particularly white to begin with, but

I've been drinking coffee and tea for a long time, so my teeth have become severely stained, and it's starting to bother me.

Even when I used whitening toothpaste, the effect was only temporary, and I didn't see any significant results.

I am wondering if teeth whitening can significantly improve old tooth discoloration.

My teeth tend to be yellower than average, so if the discoloration is severe, I would like to know the minimum number of treatment sessions required and the interval between sessions.

Can teeth whitening be effective even for old stains, and can receiving the procedure multiple times put a strain on the teeth?