My son-in-law, who is one of the most terrific daddies I've ever had the privilege to know, wasn't sure what to do with his son until he was learning to walk and talk. He did help with diapers and housework, but not so much walking or playing with the baby. Since then he's been deeply and actively involved in parenting. My first husband, father of my only child, would seldom have anything to do with her until she was walking and talking, and then he played with her often (never changed a diaper, if he could help it, though).
This is a really common pattern. Men, as a rule, hate to feel inept and helpless, and with a baby, that's pretty much how they feel. Men frequently have fathers who were distant in one way or another, and that's certainly part of ongoing expectations. And they don't have the hormonal connection that begins for most women during pregnancy.
If you want him to be more involved, don't blame him for what he is not. Don't compare him to men who nurture – yes, they exist, but the ones I know were older brothers who were taught my their moms how to help with younger siblings. Do tell him you'd like some relief from ongoing nurturing, and SHOW HIM what to do, how to do it, and better yet, how much fun or pleasure there can be in becoming a part of his baby's parenting team.
Good luck. I hope you won't expect instant and complete transformation, but will make a point of appreciating whatever efforts he does make. It may not seem fair that you have to "coach" him in this way, but many guys really do need that to find joy in a learning a new activity, especially if it seems so alien to them.
It can get at least somewhat better. And your daughter will have years in which to form a strong and happy bond with her daddy.