The short answer
If your dryer takes two full cycles to dry a normal load, the machine is almost certainly heating fine and struggling to get rid of moisture.
That's an airflow story in most cases. Lint has packed into the vent duct, or the lint screen is coated with an invisible film, and the wet air has nowhere to go.
Start with the cheap, safe checks: the lint screen and the full vent run. Most people fix this in an afternoon for under $30.
Only after the vent is proven clear do you move to the heating side, meaning the element, thermostat, or thermal fuse. Those are less common and, on gas units, a pro's job.
What's actually going on
A dryer dries by heating air, tumbling clothes through it, and pushing the moist air out the vent. Break the exhaust and the whole system backs up.
The lint screen catches most fibers, but a slow trickle always slips past. Over 2 or 3 years that trickle builds a felt-like mat inside the duct, usually at the elbows and the exterior cap.
Once that mat gets thick enough, humid air can't leave the drum fast enough. Your clothes tumble in their own moisture, and one cycle just isn't enough.
The sneaky version is a coated lint screen. It looks clean, but dryer sheets and detergent leave a waxy film across the mesh. Pour water on it: if it beads and sits instead of pouring through, that's your restriction.
When the vent and screen are both genuinely clear and you still need two cycles, the heat itself is weak. On an electric dryer that's usually a partially failed element or a thermostat cutting out early.
Gas dryers add igniter and gas-valve possibilities. If the burner heats one cycle and runs cold the next, that's a gas-side clue, and it goes to a licensed tech.