What is the difference between dogma, doctrine and a truth of faith?

During a study of angels in scripture it came up that the CCC says “angels are a truth of faith.” Therefore, they are not part of doctrine or dogmas? What is the difference between a truth of faith, doctrine and dogma?
Thank you.

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What is the difference between Doctrine and Dogma?**
]* Doctrine vs. dogma; are there lists available?**
]* Where can I read the Catechism online?**

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