I'm in the middle of watching "The Expanse" show - should I read the books?

Most of what I like about the show is actually the crew's adventures, and while I find the geopolitics interesting, I don't care for earth mars, the belt, or really anything to do with the protomolecule. The only other storyline I've enjoyed was Miller's noir detective tale in the belt.

Will the book just revisit these same storylines again (the ones I like and the ones I didn't) or will it bring more depth to the crew of the Rocinante?