In considering the (special) relativistic EM field, I understand that assuming a Lagrangian density of the form
$$\mathcal{L} =-\frac{1}{4}F_{\mu\nu}F^{\mu\nu} + \frac{1}{c}j_\mu A^\mu$$
and following the Euler-Lagrange equations recovers Maxwell's equations.
Does there exist a first-principles derivation of this Lagrangian? A reference or explanation would be greatly appreciated!