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gh-346: enforce `NumPy` docstrings + use static typing in docs (#347)

Closes #346. Working towards #188.

The main changes here have been:
- Remove all types in the docstrings in favour of proper static typing
(being added in #308)
- Switch from `numpydoc` to `sphinx.ext.napolean` due to
https://github.com/numpy/numpydoc/issues/196

Have had to change the references to `[1]` rather than `[1]_` due to
this bug, https://github.com/sphinx-doc/sphinx/issues/9689. Hopefully
this can be fixed in the future.

Example:
`glass.lensing.from_convergence`
<img width="781" alt="image"
src="https://github.com/user-attachments/assets/9b6fd087-686a-4a5c-a77a-f8a3ec9fc3e2">

Raised #350, #351.

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