If you're interested in a peer reviewed scientific comparison, Google writes retrospective papers after contemporary TPUs and GPUs are deployed versus speculation about future products. The most recent compares TPU v4 and A100. (TPU v5 and H100 is for a future paper). Here is a quote from the abstract:
"Deployed since 2020, TPU v4 outperforms TPU v3 by 2.1x and improves performance/Watt by 2.7x. ... For similar sized systems, it is ~4.3x--4.5x faster than the Graphcore IPU Bow and is 1.2x--1.7x faster and uses 1.3x--1.9x less power than the Nvidia A100. TPU v4s inside the energy-optimized warehouse scale computers of Google Cloud use ~2--6x less energy and produce ~20x less CO2e than contemporary DSAs in typical on-premise data centers."
"Deployed since 2020, TPU v4 outperforms TPU v3 by 2.1x and improves performance/Watt by 2.7x. ... For similar sized systems, it is ~4.3x--4.5x faster than the Graphcore IPU Bow and is 1.2x--1.7x faster and uses 1.3x--1.9x less power than the Nvidia A100. TPU v4s inside the energy-optimized warehouse scale computers of Google Cloud use ~2--6x less energy and produce ~20x less CO2e than contemporary DSAs in typical on-premise data centers."
Here is a link to the paper: https://dl.acm.org/doi/pdf/10.1145/3579371.3589350