While the frontpage doesn't go in depth, the docs quickly do:
First with https://docs.iroh.computer/what-is-iroh and then following up with the how it works section. The docs are actually good from what I can see so far. From what questions you brought up so for it seems to answer them pretty quickly.
It might be the docs just mesh with how I think about things. The creators should expand on this, since people seem to not mesh with the current info.