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Reorganize transpiler modules in API docs (#1645)

Closes https://github.com/Qiskit/documentation/issues/1240 and partially addresses https://github.com/Qiskit/documentation/issues/942 for runtime.

## Reduces `transpiler` modules

Before:

| module | status |
| --- | --- |
| qiskit.transpiler | only links to `passes` |
| qiskit.transpiler.passes | only links to `basis` and `scheduling` |
| qiskit.transpiler.passes.basis | empty, should link to ConvertIdToDelay but doesn't |
| qiskit.transpiler.passes.scheduling | useful |

Now:

| module | status |
| --- | --- |
| qiskit.transpiler.passes | links to `ConvertIdToDelay` and `scheduling` |
| qiskit.transpiler.passes.scheduling | useful |

This saves the user clicks. Now each page is useful enough to stand on its own.

This is what the index page now looks like:

<img width="689" alt="Screenshot 2024-04-30 at 4 20 41 PM" src="https://github.com/Qiskit/qiskit-ibm-runtime/assets/14852634/8cdefee6-b8a7-491d-be32-aeb974fce92b">

This change assumes that we will not add new modules to `qiskit.transpiler` for some time, such as `qiskit.transpiler.my_module`. If we do eventually add a new module, then we can easily revert `transpiler.rst` to point to `qiskit_ibm_runtime.transpiler` again.

This change also assumes that we won't lots of new APIs to `qiskit.transpiler.passes.basis`. If we do, we would want to consider going back to `qiskit.transpiler.passes.basis` being its own standalone page. We can do that easily if necessary in the future.

## Improves header hierarchy

### Options

Before, we were using bold text to act like headers. Instead, we should be using proper headers for styling, SEO, and accessibility (screen readers).

### `qiskit_ibm_runtime.transpiler.passes.scheduling`

This PR moves the `classes` list to be higher in the file and fixes some of the other headers to higher heading levels.

## Removes unused docstrings

The `utils` module is not exposed, ... (continued)

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