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Refactor error handling in Algorithm.prepare_key() methods

Our error handling in Algorithm.prepare_key() was previously weird and
kind of inconsistent. This change makes a number of improvements:

* Refactors RSA and ECDSA prepare_key() methods to reduce nesting and
  make the code simpler to understand
* All calls to Algorithm.prepare_key() return InvalidKeyError (or a
  subclass) or a valid PublicKey / PrivateKey instance.
* Created a new InvalidAsymmetricKeyError class that is used to provide
  a standard message when an invalid RSA or ECDSA key is used.

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