I read in this article (Apendix III p.8) that for $A\in \mathcal{M}_2$, since the normalized Pauli matrices $\{I,X,Y,Z\}/\sqrt{2}$ form an orthogonal matrix basis. $$A=\frac{Tr(AI)I+Tr(AX)X+Tr(AY)Y+Tr(AZ)Z}{2} $$
I don't understand, where does the Trace coefficient come from ?