Where to start learning more

Hi, I’m interested in learning more about Judaism in regard to history and customs as well as a modern form of worship.

Is it generally ok for me to just show up to a service and listen in or is that super not cool? If it’s cool what would be the general layout? Should I be bringing cash for collections or something?

Would there be any faux pas I should be aware of?

I was loosely raised Catholic, is it similar at all?

Kansas City USA if that matters at all