The Let’s Encrypt API service at the URL that you mentioned is an RFC 8555 service implementation. In particular, it’s a directory instance as mentioned in section 7.1.1 of the RFC.
I’d like to know is there any official document released from LE to developer?
The document should include every API input message and output message definition.
What would the extra benefit be for such an API documentation, compaired to the RFC? The RFC contains all the (textual) nuances such a list of input/output messages would miss. I don't think one would be able to properly build an ACME client with just a list of input/output messages.