You can get some form of auditing for Bitlocker via MBAM (Microsoft Bitlocker Administration & Monitoring).
It can be used stand-alone, but here we've got it integrated into SCCM. You can generate compliance reports with some basic information straight out the box (computer name, domain name, device type, OS, compliance status, cipher strength, policy: OS drive, policy: data drives, policy: removable drives, device user, last contact, etc) but as it's built on SQL Server Reporting Services you can create your own reports fairly straightforwardly.
It doesn't help too much if a device has been lost/stolen unless you've got a fairly recent report already. Unless you have implemented DirectAccess, in which case you could keep an eye out for when the device connects remotely and run the report then.