The history of exceptions is discussed in [1]. I am not a historian, but think that Milner's ML was the first language with a type-safe exception mechanism. [2] Discusses, among many other things, Lisp's relation with exceptions.

[1] B. G. Ryder, M. L. Soffa, Influences on the Design of Exception Handling. https://dl.acm.org/doi/10.1145/885638.885644

[2] G. L. Steele Jr, R. P. Gabriel, The Evolution of Lisp. https://www.dreamsongs.com/Files/HOPL2-Uncut.pdf