For loop type menu, here are the query parameters and fields.
Query parameters
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menu- Get menu by ID or title
Type: string
Fields
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children- Loop instance of menu children, if any
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description- Description
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id- Menu item ID
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parent_id- Parent menu item ID, if any
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post- Loop instance of item as post
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post_id- Post ID, if item is a post
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target- Target, if item is a custom link
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taxonomy- Loop instance of item as taxonomy
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taxonomy_id- Taxonomy ID, if item is a taxonomy
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title- Title
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type- Type: custom, post_type, taxonomy
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type_label- Type label: "Custom Link", post type label, or taxonomy label
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url- URL