Unprofessional to ask a coworker out?

The last time I asked a coworker out was about a year and half ago, it was a discreet relationship that lasted a few weeks but things quickly went sour. During work I'd often ignore her because of my fear that people would find out about us since dating was against company policy.

I know my actions weren't justified looking back on them but how should one act in a office relationship? Therefore I am hesitant to ask another coworker out because of the complications and consequences that arise in the workplace.

Where do you draw the line when it is unprofessional or okay to ask a coworker out? Any feedback is appreciated, thanks.
Unprofessional to ask a coworker out?
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