Oracle 23c

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WITH yourTable AS (
    SELECT 'D|1005433608369|202311220039403004157|2023112200394030041570002|0|-53|4157|20231122|30|394|820|2|0|0|0|0' AS val FROM dual UNION ALL
    SELECT 'D|1006233842021|202311220039403004160|2023112200394030041600001|1|0|4160|20231122|30|394|868|1|46002136|98|35|0' FROM dual UNION ALL
    SELECT 'D|1006233842021|202311220039403004160|2023112200394030041600002|0|-63|4160|20231122|30|394|820|2|0|0|0|0' FROM dual UNION ALL
    SELECT 'D|1004420222359|202311220039403004161|2023112200394030041610001|1|0|4161|20231122|30|394|868|1|45941436|108|54|0' FROM dual UNION ALL
    SELECT 'D|1004420222359|202311220039403004161|2023112200394030041610002|0|-54|4161|20231122|30|394|820|2|0|0|0|0' FROM dual UNION ALL
    SELECT 'D|1005557156227|202311220039403004187|2023112200394030041870001|1|0|4187|20231122|30|394|868|1|46189226|98|2' FROM dual UNION ALL
    SELECT' T|2401|20231124|202311240240138702117|1015453705|5|193|00 A+%?Pu?Z?3<???' FROM dual
)

SELECT val
FROM yourTable
WHERE REGEXP_LIKE(val, '^(-?[0-9]+(\.[0-9]+)?|[DT])(\|(-?[0-9]+(\.[0-9]+)?|[DT]))*$');

VAL
D\|1005433608369\|202311220039403004157\|2023112200394030041570002\|0\|-53\|4157\|20231122\|30\|394\|820\|2\|0\|0\|0\|0
D\|1006233842021\|202311220039403004160\|2023112200394030041600001\|1\|0\|4160\|20231122\|30\|394\|868\|1\|46002136\|98\|35\|0
D\|1006233842021\|202311220039403004160\|2023112200394030041600002\|0\|-63\|4160\|20231122\|30\|394\|820\|2\|0\|0\|0\|0
D\|1004420222359\|202311220039403004161\|2023112200394030041610001\|1\|0\|4161\|20231122\|30\|394\|868\|1\|45941436\|108\|54\|0
D\|1004420222359\|202311220039403004161\|2023112200394030041610002\|0\|-54\|4161\|20231122\|30\|394\|820\|2\|0\|0\|0\|0
D\|1005557156227\|202311220039403004187\|2023112200394030041870001\|1\|0\|4187\|20231122\|30\|394\|868\|1\|46189226\|98\|2