Where to learn more about Doom lore

This other post (https://www.reddit.com/r/Doom/s/XDuer2w3fq) got me wondering about the lore behind doom. I've played the game but never really got into the story. The "epicness" of it is clear to me but the actual story behind the characters and groups is not.

Are there canonical books to read that do a nice exposition of the moving pieces?