If you want to go deeper, Principles of Program Analysis is a popular reference: Principles of Program Analysis https://www.amazon.com/dp/3540654100/
This is useful because it reduces many program analysis design questions to questions of which lattice to use. It also allows you to compare algorithms by comparing their lattices, which makes it easier to see how algorithms are related.
The cost is that this approach will be pretty alien if you don't have experience with abstract algebra or related fields. If you do have that experience, I don't think it requires mathematical maturity beyond an undergraduate level.