Improve documentation

[madsmtm]

From the Rust API guidelines:

• [ ] Crate level docs are thorough and include examples (C-CRATE-DOC)
• [ ] All items have a rustdoc example (C-EXAMPLE)
• [ ] Examples use ?, not try!, not unwrap (C-QUESTION-MARK)
• [ ] Function docs include error, panic, and safety considerations (C-FAILURE)

I think there are some clippy/cargo-check features to turn on that can help with ensuring this.