Self-Sovereign Identity (SSI) is an identity model centered on the user. The user maintains and controls their data in this model. When a service provider requests data from the user, the user sends it directly to the service provider, bypassing third-party intermediaries. Thus, SSI reduces identity providers’ involvement in the identification, authentication, and authorization, thereby increasing user privacy. Additionally, users can share portions of their personal information with service providers, significantly improving user privacy. This identity model has drawn the attention of researchers and organizations worldwide, resulting in an increase in both scientific and non-scientific literature on the subject. This study conducts a comprehensive and rigorous systematic review of the literature and a systematic mapping of theoretical and practical advances in SSI. We identified and analyzed evidence from reviewed materials to address four research questions, resulting in a novel SSI taxonomy used to categorize and review publications. Additionally, open challenges are discussed along with recommendations for future work.