If your doing it on mongodb shell or Robo3T then, the line of code would be:
db.collection_name.find({},{insertedId:1})
This is related to projection. 1 represents you want to display it as your output.
In your case as you want only the value of your object id to get displayed, you have to use .valueOf() ; that is ObjectId().valueOf().
                     ->  insertedId: new ObjectId("612d9d08db9c20f031033478") 
                     ->  ObjectId("612d9d08db9c20f031033478").valueOf()
                     ->
                     ->  612d9d08db9c20f031033478
Your can refer this : https://docs.mongodb.com/manual/reference/method/ObjectId.valueOf/ site for your reference.
So you can use this .valueOf() in your code and get the id saved in the document