For a little bit more, here [1] is a link to the lecture notes from the Distributed Systems course I took that covers this. Also covers the related Byzantine Generals problem. If you find this interesting I'd recommend taking a look through the rest of the course's lecture notes too. They're very descriptive and written really well.

[1] http://www.andrew.cmu.edu/course/15-440-f13/index/lecture_in...