If you are on the stable variant (how to see) you could check the weekly posts in Topics tagged development-updates, section “OS OTA Related information” (currently) for completed OTA upgrades for your device, which then should be offered via the updater in the Settings, if applicable.
In all other cases the upgrade will “just” be a new install, and the instructions for this are given at the device page you already found.
Be safe with a backup of your important stuff in any case.