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Add support for QuantumCircuit.layout to qpy (#10148)

* Add support for QuantumCircuit.layout to qpy

This commit adds the missing support for QuantumCircuit.layout to the
qpy format. This necessitates bumping the QPY format version to 8 to
accomodate the extra data needed for representing the details of the
layout. The tricky piece with representing the 3 TranspileLayout
attributes is representing the virtual bits in the initial layout
because there is no guarantee that the input circuit's registers are in
the output circuit (typically they are not when transpile() is used).

Fixes #10112

* Fix handling of empty layout

* Expand test coverage

* Fix lint

* Add qpy compat tests

* Fix compat tests

* Add release notes

* Adjust layout creation to be register independent

* Finish docs

* Only check layout in compat tests with circuits

* Fix typos

* Fix doc typo in qiskit/qpy/__init__.py

Co-authored-by: John Lapeyre <jlapeyre@users.noreply.github.com>

* Adjust introduction version for layout qpy compat tests

* Unify qpy compat test version filter style

* Add new line to layout error message

* Simplify serialization logic

Co-authored-by: Jake Lishman <jake.lishman@ibm.com>

* Doc fixes

* Improve test coverage

* Don't reuse bits between initial layout and circuit in qpy compat tests.

* Update qiskit/qpy/__init__.py

* Fix test typo

* Use a register in compat tests for consistent equality

* Update test/python/qpy/test_circuit_load_from_qpy.py

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Co-authored-by: John Lapeyre <jlapeyre@users.noreply.github.com>
Co-authored-by: Jake Lishman <jake.lishman@ibm.com>

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