How to add /blog/ permalink only for post types?

I would like to add /blog/ to my posts to make it easier to monitor posts from my blog with Google Analytics. The current structure is:

post listing page: example.com/blog
individual post: example.com/post-name

I’d like it to become example.com/blog/post-name.

My current permalink structure is set up to be /%postname%/ and if I change to /blog/%postname%/ it affects the other post types