Book recommendation for Casanova?

I recently read a little bit about Giacomo Casanova, it seems he lived an almost unbelievably interesting life. Allegedly he broke out of the Inquisition's imprisonment in the Venetian Doge's palace, met Voltaire, Rousseau, Frederic the Great, Catherine the Great, two popes, Mozart and Benjamin Franklin. His adventures seem like they're taken out of the stories about Baron Munchhausen. Can anyone recommend me a good, critical biography?