AMD was struggling to release CPUs that were competitive against year old Intel Core 2 Duos which remained the status quo through their Bulldozer architecture. Things started turning around with Ryzen when a combination of architecture improvements and typical workloads taking more advantage of multicore flipped the script.
The bits about "true" multicore are also sketchy considering Bulldozer was using shared L2, fetch/decode, and floating point hardware on each module and calling a module two "cores" for marketing purposes.
https://www.anandtech.com/show/4955/the-bulldozer-review-amd...
So perhaps a bit more than a couple of years, but my impression is also that they fell behind on (single-thread) performance for a long time after that.
I've also understood that in more ancient history AMD CPUs sometimes beat contemporary Intel parts in performance, although releasing their parts later than Intel. I'm not sure that's relevant to any remotely recent developments anymore though.