docs: Remove docs extra, upgrade Sphinx, enable hyperlinks to gRPC/Python/NumPy docs

[bkeryan]

• This contribution adheres to CONTRIBUTING.md.
• I've updated CHANGELOG.md if applicable.
• I've added tests applicable for this pull request

What does this Pull Request accomplish?

• Convert the docs extra to a Poetry dependency group.
• Upgrade to the latest Sphinx, which requires Python 3.11 or later.
• Update GItHub workflow, ReadTheDocs config, and Tox config to use Python 3.11 for docs.
• Enable the Intersphinx plugin in order to automatically hyperlink to Python and NumPy docs.
• Update copyright range to "2017-%Y" to reflect the first year in which the nidaqmx package was published. Note that the %Y placeholder was added in a recent version of Sphinx.
• My text editor reformatted pyproject.toml and conf.py.

Why should this Pull Request be merged?

Improve documentation and maintainability slightly.

What testing has been done?

Ran poetry run tox -e docs locally. I got SSL errors from Intersphinx but I think that's an issue with my machine and shouldn't affect the GitHub and ReadTheDocs build agents.

[github-actions]

Test Results

    34 files  ±0      34 suites  ±0   57m 13s ⏱️ - 2m 13s
 2 396 tests ±0   2 042 ✅ ±0    354 💤 ±0  0 ❌ ±0 
43 102 runs  ±0  36 850 ✅ ±0  6 252 💤 ±0  0 ❌ ±0 

Results for commit 4c64456. ± Comparison against base commit db80440.

♻️ This comment has been updated with latest results.

[bkeryan]

NumPy and Python hyperlinks are working: https://nidaqmx-python--710.org.readthedocs.build/en/710/stream_writers.html

[bkeryan]

FYI @zhindes I also added hyperlinks to gRPC and Protobuf.

There's at least one link to gRPC here: https://nidaqmx-python--710.org.readthedocs.build/en/710/grpc_session_options.html#nidaqmx.GrpcSessionOptions

Not sure about protobuf but measurement-plugin-python had some links to it so I know the URL works.