Is there any way I can get more detailed failure information from Time Machine? Are there logs?

I swap in multiple Time Machine backup drives on my main desktop to have redundant backups. At least I try to. However, lately backups to one of my disks seems to always fail, possibly because Time Machine only tries to backup to the other. However, I'm not sure as the only error I get from the main UI is "Backup Failed". No indication of whether any files were backed up, which files weren't backed up, or why. Is there any way I can get more detailed failure information from Time Machine so I can see what's going wrong so I can fix it?