Where can I find documentation on the LEGO Wireless Protocol for Powered Up devices?
LEGO calls this communication protocol the "LEGO Wireless Protocol" (LWP). The documentation is publicly available at https://lego.github.io/lego-ble-wireless-protocol-docs/.

There is also a GitHub repository that provides the source of this website at https://github.com/LEGO/lego-ble-wireless-protocol-docs. Because of this, it seems reasonable to expect this documentation to evolve over time.