אמר רב יוסף תא שמע בת שלש שנים ויום אחד מתקדשת בביאה ואם בא עליה יבם קנאה וחייבין עליה משום אשת איש
"A girl who is three years and one day old whose father arranged her betrothal is betrothed with intercourse, as the legal status of intercourse with her is that of full-fledged intercourse."
I've been confronted with this as justifying sexual intercourse with minors, but I've also seen Talmudic passages condemning sexual intercourse with minors. So how does this passage coincide with other passages?
Is this passage in fact saying that one is allowed to marry off his daughter when she's over three years old, but only consummate the marriage when she's a of age?