diff --git a/.github/workflows/build-cibw.yml b/.github/workflows/build-cibw.yml
index dac64d19de..bae27470fa 100644
--- a/.github/workflows/build-cibw.yml
+++ b/.github/workflows/build-cibw.yml
@@ -1,3 +1,6 @@
+# This workflow builds the Python wheels using cibuildwheel and uploads them to TestPyPI.
+# It can be triggered on push to the develop branch or manually via Github Actions.
+
 name: Build Wheels (cibuildwheel)
 
 on:
@@ -7,6 +10,9 @@ on:
   workflow_dispatch:
 
 jobs:
+  # Get the system time and store it in an output. This is used to tag the wheels.
+  # This needs to be done in a separate job so that each matrix job in build_wheels can
+  # access the same timestamp.
   get_system_time:
     name: Get System Time
     runs-on: ubuntu-latest
@@ -96,6 +102,8 @@ jobs:
         with:
           python-version: ${{ matrix.python_version }}
 
+      # Set the DEVELOP flag and the TIMESTAMP environment variables. This is used in the
+      # top-level CMakeLists.txt to generate the GTSAM_VERSION_STRING.
       - name: Set Develop Flag
         run: |
           echo "DEVELOP=1" >> $GITHUB_ENV
@@ -113,18 +121,26 @@ jobs:
             exit 1
           fi
 
+      # We first build the Python wrapper module on the host machine. This is done because cibuildwheel
+      # expects a setup.py file to be present in the project directory.
+      #
+      # The Python wrapper module is then rebuilt within the cibuildwheel container before building
+      # the wheels to ensure platform compatibility.
       - name: Run CMake
         run: |
           cmake . -B build -DGTSAM_BUILD_PYTHON=1 -DGTSAM_PYTHON_VERSION=${{ matrix.python_version }}
 
       - name: Build and test wheels
         env:
+          # Generate the platform identifier. See https://cibuildwheel.pypa.io/en/stable/options/#build-skip.
           CIBW_BUILD: cp${{ matrix.cibw_python_version }}-${{ matrix.platform_id }}
           CIBW_MANYLINUX_X86_64_IMAGE: ${{ matrix.manylinux_image }}
           CIBW_MANYLINUX_AARCH64_IMAGE: ${{ matrix.manylinux_image }}
           CIBW_ARCHS: all
           CIBW_ENVIRONMENT_PASS_LINUX: DEVELOP TIMESTAMP
 
+          # Use build instead of pip wheel to build the wheels. This is recommended by PyPA.
+          # See https://cibuildwheel.pypa.io/en/stable/options/#build-frontend.
           CIBW_BUILD_FRONTEND: "build"
           CIBW_BEFORE_ALL: bash {project}/build_tools/wheels/cibw_before_all.sh ${{ matrix.python_version }} {project}
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 826785becc..cabde7653d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,6 +10,14 @@ set (GTSAM_VERSION_PATCH 0)
 set (GTSAM_PRERELEASE_VERSION "a0")
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 
+# Set the version string for the library. 
+#
+# If the environment variable DEVELOP is set, then the version string will be
+# "MAJOR.MINORprerelease.devTIMESTAMP". TIMESTAMP is another environment variable that should be set to the current
+# datetime. See build-cibw.yaml for example usage.
+#
+# If the prerelease version is empty, then the version string will be "MAJOR.MINOR.PATCH". Otherwise, the version
+# string will be "MAJOR.MINORprerelease".
 if (DEFINED ENV{DEVELOP})
     set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}.dev$ENV{TIMESTAMP}")
     set (SETUP_NAME "gtsam-develop")
diff --git a/build_tools/wheels/build_wheels.sh b/build_tools/wheels/build_wheels.sh
index a8cbb93de6..29247953d9 100644
--- a/build_tools/wheels/build_wheels.sh
+++ b/build_tools/wheels/build_wheels.sh
@@ -1,5 +1,8 @@
 #!/bin/bash
 
+# This script calls cibuildwheel to build the wheels for the project. It is used in the build-cibw.yml workflow in .github/workflows.
+# Note that the build/python directory contains the wrapper module built for the specified Python version.
+
 set -e
 set -x
 
diff --git a/build_tools/wheels/cibw_before_all.sh b/build_tools/wheels/cibw_before_all.sh
index 4f0f33f16b..2398877a89 100644
--- a/build_tools/wheels/cibw_before_all.sh
+++ b/build_tools/wheels/cibw_before_all.sh
@@ -13,6 +13,7 @@ ARCH=$(uname -m)
 export PYTHON="python${PYTHON_VERSION}"
 
 if [ "$(uname)" == "Linux" ]; then
+    # manylinux2014 is based on CentOS 7, so use yum to install dependencies
     yum install -y wget
 
     # Install Boost from source
@@ -32,6 +33,7 @@ $(which $PYTHON) -m pip install -r $PROJECT_DIR/python/dev_requirements.txt
 rm -rf $PROJECT_DIR/build
 rm -rf CMakeCache.txt CMakeFiles
 
+# Build the Python wrapper module
 cmake $PROJECT_DIR \
     -B build \
     -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
@@ -50,6 +52,7 @@ cmake $PROJECT_DIR \
 
 cd $PROJECT_DIR/build/python
 
+# Install the Python wrapper module and generate Python stubs
 if [ "$(uname)" == "Linux" ]; then
     make -j $(nproc) install
     make -j $(nproc) python-stubs
diff --git a/python/setup.py.in b/python/setup.py.in
index 96c21a55ed..cd9177ab88 100644
--- a/python/setup.py.in
+++ b/python/setup.py.in
@@ -20,6 +20,8 @@ package_data = {
 # Cleaner to read in the contents rather than copy them over.
 readme_contents = open("${GTSAM_SOURCE_DIR}/README.md").read()
 
+# The cibuildwheel tool won't recognize a wheel as platform-dependent unless the ext_modules option is defined in setup.py. This is used to define C/C++ source files that need to be built for the wheel.
+# However, we pre-build our C++ files. Thus, we force cibuildwheel to think that there are ext_modules defined by overwriting the has_ext_modules() function.
 class BinaryDistribution(Distribution):
     def has_ext_modules(foo):
         return True