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$doc =~ s/(?:\[|\]|\')//g   -->  $doc =~ s/[\[\]\']//g
$doc =~ s/(?:\[|\]|\')+//g  -->  $doc =~ s/[\[\]\']+//g

use 5.16.2;
use warnings;

...
$doc =~ "'C-3PO' or 'See-Threepio' is a humanoid robot character from 
+the [[Star Wars]] universe who appears in the original ''Star Wars'' 
+films, the prequel trilogy and the sequel trilogy.\n";
$doc =~ s/[\[\]']//g; # set based replacement
say $doc;