Rufus Pollock’s tools review article from 2016 is still relevant today.
If you prefer to read a tutorial, here is one: Get Started With Scraping – Extracting Simple Tables from PDF Documents. Note that it was written at 2013, so some tools may have died by now. Another tutorial: How I parse PDF files.
Finally, a paper about the challenges of scraping PDF files: Towards High-Quality Text Stream Extraction from PDF.