The definition is simple. The game is a draw if a mate could not be achieved by any sequence of legal moves.
You can't achieve mate with a K+N vs king, no matter how stupid your opponent's moves are. However, in a K+R vs K+R, blundering the rook away is a legal move, and so is the mating sequence.
Also, when your opponent has other pieces on the board, even a lone knight might be able to achieve helpmate.
What are all possible material situations where a draw by the insufficient material rule applies? There's...
K vs. K
K vs. K+N
K vs. K+B
But what about K+N vs. K+N? Of course it's a draw in practice, but is it considered insufficient material? By similar logic, K+R vs. K+R would also be agreed drawn, but that is not insufficient material, because if one Rook were to be lost, the other player could easily force mate.
Also, what about K+B vs. K+B with opposite-colored Bishops? And are there any other scenarios where the material on the board would be insufficient to force mate from that point until the rest of the game?