What actually takes up the space
Uncompressed audio is one of the few file formats where size is entirely predictable. There is no compression guessing, no content dependence: a minute of silence takes exactly as much room as a minute of full orchestra.
Three numbers decide everything. Sample rate is how many times per second the signal is measured, so 44,100 Hz means 44,100 snapshots every second. Bit depth is how precisely each snapshot is stored, with 16 bits giving 65,536 possible levels and 24 bits giving over 16,000,000. Channels multiply the whole thing: stereo is two independent streams, 5.1 surround is six.
Multiply them together with duration and you have the answer:
The division by eight converts bits to bytes. At CD settings that comes to 176,400 bytes every second, which is about 10.6 MB per minute.
Bitrate is the same figure expressed per second rather than per file:
CD audio runs at 1,411 kbps. That number is worth remembering because it puts compressed formats in context: a 320 kbps MP3 is roughly a quarter of the data, and a 128 kbps stream about a ninth.
Container overhead is negligible. A WAV header is around 44 bytes, which on a three minute file is far below rounding error.