pomerium / pomerium / 7132088097

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authenticateflow: add stateful flow (#4822)

Add a new Stateful type implementing the stateful authentication flow
from Pomerium v0.20 and earlier.

This consists mainly of logic from authenticate/handlers.go prior to
commits 57217af and 539fd51.

One significant change is to set the default IdP ID when an IdP ID is
not provided in the request URL (e.g. when signing in directly at the
authenticate service domain). Otherwise, if session state is stored with
an empty IdP ID, it won't be valid for any route.

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