I'm sure there are technical guides but they might not help you understand what's really operating here. I'm going to give this a shot with as much non-technical language as I can. Here goes.
Resistance is a reasonably easy concept to understand. It is the amount by which a circuit resists the flow of electrons. Resistance is the term used for direct-current (DC) circuits. Impedance is akin to resistance but is the term used for complex (AC) circuits. Impedance can vary as a function of frequency. It's more complicated than that, but let's leave it there. The unit of measure of resistance or impedance is ohms.
The signal generated by a pickup and amplified and reproduced is an AC signal, so we speak of impedance. When you plug a piezo pickup (or another transducer) into an amp, that transducer will respond in a way that is dependent on what it "sees" or "looks into" when it is connected to that amp. We speak of the transducer "looking into" the input impedance of the amplifier, whether it's 500 kohms, 1 Mohm, whatever. The result of connecting the pickup and the amp forms a
filter that will affect different frequencies in different ways. Exactly
how the frequencies are affected will depend upon factors including the internal characteristics of the pickup itself (it's capacitance and resistance as a function of frequency, i.e., it's impedance).
Glossing over the details, when you put all this together, plugging the piezo pickup into the amp basically forms a high-pass filter. That is, a filter that
lets pass frequencies above a certain point, while decreasing the level of (attenuating) frequencies below that point.
As it turns out, again glossing over the technical details, as the input impedance of the amplifier
increases, the frequency "cutoff" of the effective filter that is formed
decreases. That means that progressively lower frequencies will be allowed to pass through as the input impedance of the amp goes up. For the typical piezo pickup, once the input impedance of the amp is as high as about 1 Mohm, you'll get virtually all the "bass" frequencies to pass that you'd want. Lower the input impedance of the amp and you'll cut out some of those desired "bass" frequencies and the pickup will sound "honky" or lacking in bass.
That's a simplified version of what's going on. I hope it helps.
For more detail, see
here.