Tldr: I am completely unaware when I say something cruel and I need help on what to do

Like with any friend group we all joke around and tease each other etc but I think my friends are starting to get uncomfortable with things I say because it's actually really mean. I've noticed it's not just with those friends, it's with work and other friend groups too. But I genuinely can't tell when I'm going too far or being too mean or if someone explains it to me I get surprised because I genuinely thought nothing was wrong with what I said or did. I know I'm not a psychopath, I understand others emotions well enough and I know how to not be a complete bitch but I also can't comprehend when I go too far. What's wrong with me and how do I get help for this?