I can't find anything specifically defining Dark Arts, but there is an old Pottermore article (original now gone, but archived) which gives some insight in reverse:
Spell Definitions
Every now and then somebody asks me for the difference between a spell, a charm and a hex. Within the Potter world, the boundaries are flexible, and I imagine that wizards may have their own ideas. Hermione-ish, however, I've always had a working theory:
Spell:
The generic term for a piece of magic.
Charm:
Does not fundamentally alter the properties of the subject of the spell, but adds, or changes, properties. Turning a teacup into a rat would be a spell, whereas making a teacup dance would be a charm. The grey area comes with things like 'Stunning Spells', which on balance I think are Charms, but which I call spells for alliterative effect.
Hexes:
Has a connotation of dark magic, as do jinxes, but of a minor sort. I see 'hex' as slightly worse. I usually use 'jinx' for spells whose effects are irritating but amusing.
Curses:
Reserved for the worst kinds of dark magic.
There are two points I think this gives us.
Firstly, the definitions are soft and your mileage may vary - different wizards would have their own ideas about whether a particular spell was a charm, a hex, or a curse.
Secondly, there is a sliding scale rather than absolutes - it is possible to have 'worst kind' of dark magic, so there can also be milder examples.
Putting these together, dark magic and the dark arts are not precisely defined. Some spells, such as the unforgivable curses, are legally defined in Britain as 'Dark Arts', but this is a decision, not an inherent property of the spell.
If the intent of the spell is to cause harm, it's shading more towards dark magic - the more harmful the spell is in intent, the more people who would call it dark magic.