In that vein I highly recommend Foundations and Fundamental Concepts of Mathematics by Howard Eves. I think it might be a little dated, but it gives an amazing overview of the most important developments in mathematics that were relevant at the time. It's less focused on practice (though there are some problems) and more on the history and motivation behind the ideas. This book introduced me to axiomatics, non-Euclidean geometry, quaternions, and abstract algebra in my senior year of high-school.