Hillel Wayne (who wrote this guide) also has a great blog with many posts related to this topic: https://hillelwayne.com/

Leslie Lamport (who created this language, has written many seminal papers on distributed computing and is a Turing award winner) has also published an excellent book and video series introducing the design and practical usage of TLA+, you can find the video series at: http://lamport.azurewebsites.net/video/videos.html