I am looking into 1 qubit pauli channels, e.g. the dephasing channel $$\mathcal{E}(\rho)=(1-p)\rho+p\sigma_z\rho\sigma_z.$$ I found out it could be represented as $$\mathcal{E}(\rho)=\int p(\lambda)\cdot U(\lambda)\rho U(\lambda)^{\dagger} \text{d}\lambda$$ with $U(\lambda)=e^{-i\sigma_z\lambda}$ and $p(\lambda)$ a probability distribution - and therefore interpreted as an average over random rotations in the bloch sphere (more specific, random rotations around the z axis).
Now I only could find this in a certain paper (https://doi.org/10.1038/s41467-019-11502-4) and only for dephasing channels. Is there a general (maybe even introduction) book that covers this integral representation also for depolarizing channels? Nakahara, Nielsen and Chuang or Marinescu (which I have used mainly so far) don't seem to cover this.