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Lamport's video course is great (it's linked from the hyperbook, but just in case here's the direct link: https://lamport.azurewebsites.net/video/videos.html).

If you've used Python before that's more than enough background to get started, no other CS knowledge required.

https://www.hillelwayne.com/post/learntla/

Original Leslie Lamport lectures.

https://www.youtube.com/watch?v=p54W-XOIEF8&list=PLWAv2Etpa7...

I recommend learning Dafny instead of TLA+. It gives you all of the same reasoning power, with the added advantage that you can run your proven code in production.