How do I use IceWM's 'icesh' command to set the task-bar layer to 'Normal'?

The current taskbar layer is stuck on "onTop" and I would like to change it to "Normal" so it will be hidden when not focused. A similar issue to mine can be found here but I'm unfamiliar with Linux and have no direct access to the configuration files, therefore I'm trying to solve it through the terminal.