In Biblical times, men would have worn a knee-length tunic, a khiton as their “inner-garment” (χιτών chiton G5509, same as כֻּתֹּנֶת khiton H3801) while a woman would have worn an ankle-length one. These tunics would have been made of either linen or wool and could be woven as one piece (cf. John 19:23) and held in at the waist by a belt or girdle (cf. Mark 1:6; Mark 6:8-9). Over the tunic, men and women would have worn a loose-fitting cloak or mantle or “outer-garment”, called a ἱμάτιον himation in Greek (G2440) but various Hebrew words are used for the outer-garment including בֶּגֶד beged (H899), שַׂלְמָה simlah (H8008), כְּסוּת kesuth (H3682). This outer-garment was made of wool as also served as blankets at night (cf. Exodus 22:26-27; Job 24:7). Togas were similar to the himation except togas were circular and folded into a semi-circle to wear while the outer-garment of the Hebrews were rectangular and the sons of Israel were commanded to make make themselves tassels with a cord of blue on the four corners (cf. Numbers 15:38-39; Matthew 14:34).
