Yup that's right,
WAV is raw audio, just a long string of values, the size of each value and the amount of values you get per second being the bit depth and sample rate respectively.
Mp3 is a compressed format, one of a number of algorithms has analysed the original wav and tried to save space where possible. A simple example might be rather than holding ≈220000 24bit samples to represent 5 seconds of silence at the beginning of a single channel of an audio file (which uses 176Kb of data, note kilobytes not kilobits) an Mp3 algorithm might replace it with a statement 'value is zero here for 220000 samples', which uses vastly less data (It doesn't actually do this, it has a flag for 'inaudible' and treats silence as such but just to illustrate the idea).
Of course the techniques used to minimise file size get much much more sophisticated when audio is present in the file, and can reduce the Mp3 file size massively compared to a WAV. (something like 50Mb compared to 6Mb or so for a 3 min audio file). It gets a bit more complex when trying to generalise much further than this but it's along those sort of lines.
Depending on what bitrate your Mp3 file is you are throwing away a lot of data, and you cannot get it back. Eg if you tell your Mp3 encoder to be really aggressive and make it a 96Kbps file you'll save lots of space, but to do so the algorithm will make many more generalisations when trying to 'describe' the file for the Mp3 format. When trying to convert back to WAV you only have so much to work with, you'll essentially just end up with a raw audio, high res version of the much lower resolution Mp3 file, not the original audio. Think a high res digital photo of a low res pixelated image.
So it's better to just export anything important as wav, disk space is cheap, and doing so means a master version of a track etc. is in the correct format to justify calling it some kind of master for storage, archiving, mastering, releasing etc.
However Mp3 is a very good format (as are the newer, sometimes even better compression types such as AAC), I find it next to impossible to tell a 320Kbps Mp3 from a wav file of the same track on a good system, though some claim to. Depending on what you need to do you can still get good results. I've sampled from Mp3 for electronic music plenty of times and it's fine for that kind of use, and arguably higher fidelity than sampling from old records or cassettes which was common for decades (though the latter do arguably add a bit of noise and distortion which can be desirable for 'the sound' of those genres, the smearing and ringing of lower quality Mp3 is not considered desirable in the same way).
But unless theres a reason it's best just to stick to moving audio around as WAV or similar until you've finished recording/creating and leave Mp3 for the lightweight version of the track suited for distribution on the net or personal music collections etc, which is what the format was designed for.