Speech-based depression detection (SDD) has emerged as a non-invasive and scalable alternative to conventional clinical assessments. However, existing methods still struggle to capture robust depression-related speech characteristics, which are sparse and heterogeneous. Although pretrained self-supervised learning (SSL) models provide rich representations, most recent SDD studies extract features from a single layer of the pretrained SSL model for the downstream classifier. This practice overlooks the complementary roles of low-level acoustic features and high-level semantic information inherently encoded in different SSL model layers. To explicitly model interactions between acoustic and semantic representations within an utterance, we propose a hierarchical adaptive representation encoder with prior knowledge that disengages and re-aligns acoustic and semantic information through asymmetric cross-attention, enabling fine-grained acoustic patterns to be interpreted in semantic context. In addition, a Connectionist Temporal Classification (CTC) objective is applied as auxiliary supervision to handle the irregular temporal distribution of depressive characteristics without requiring frame-level annotations. Experiments on DAIC-WOZ and MODMA demonstrate that HAREN-CTC consistently outperforms existing methods under both performance upper-bound evaluation and generalization evaluation settings, achieving Macro F1 scores of 0.81 and 0.82 respectively in upper-bound evaluation, and maintaining superior performance with statistically significant improvements in precision and AUC under rigorous cross-validation. These findings suggest that modeling hierarchical acoustic-semantic interactions better reflects how depressive characteristics manifest in natural speech, enabling scalable and objective depression assessment.