In 1543, Copernicus was persuaded to publish De Revolutionibus by fellow scientist Georg Joachim Rheticus. There seemed to be some promise that the ideas might be better received in Protestant Germany. Ironically, it was the Protestants who reacted first and most critically, and only later was the book censored by the Catholic Church.
But that did not stop the circulation of his ideas. This 1617 edition was published in Amsterdam and shows the comments of contemporary readers. Shortly after, in 1632, Galileo published his famous defense of the Copernican system.