If you are using homebrew you can use the following process to install the necessary dependencies and build the kicad documentation:
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Install mactex distribution
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Add /Library/TeX/texbin to your PATH environment variable
export PATH=$PATH:/Library/TeX/texbin
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Install homebrew dependencies
brew install git cmake asciidoc python
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Install python dependencies
pip install dblatex
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Clone and build kicad-doc
cd kicad-doc mkdir build cd build cmake ../ make