The "Foundations of Blockchain" lecture series by Tim Roughgarden (CS prof at Columbia & head of research at a16z) covers some of these topics (state machine replication, possibility & impossibility results such as FLP) very well in the first lectures. Then it goes into PoW and PoS more specifically, but the foundations are excellent:

https://www.youtube.com/playlist?list=PLEGCF-WLh2RLOHv_xUGLq...

(Note that I still think that crypto and (permissionless) blockchain are inefficient deleterious nonsense...)