VATICAN CITY — Pope Francis denounced the global financial system that excludes the poor as he issued the mission statement for his papacy on Tuesday, saying he wants the Catholic Church to get its hands dirty as it seeks to bring solace and mercy to society’s outcasts.

In a 224-page document, Francis pulled together the priorities he has laid out over eight months of homilies, speeches and interviews, pushing to shift the church away from a focus on doctrine to one of joyful welcome in a bid to draw in believers in a world marked by secularization and vast income inequalities.

The document, The Joy of the Gospel, is the second major teaching document issued by Francis, but is the first actually written by him since the encyclical “The Light of Faith,” issued in July, was penned almost entirely by Pope Benedict XVI before he resigned.

Francis’ concerns are laced throughout, and the theological and historical citations leave no doubt about his own points of reference and priorities: Popes John XXIII and Paul VI, who presided over the Second Vatican Council, which brought the church into the modern world, are cited repeatedly.