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Use IntoUrl for more ergonomic function signatures (#520)

Re: #513 
Inspired by
[`reqwest::IntoUrl`](https://docs.rs/reqwest/latest/reqwest/trait.IntoUrl.html)

After some consideration, the goal is no longer to
remove `url` types from the public API. That crate is ancient and has a
stable release cadence and conservative MSRV targets (1.63 even with the
latest) that we can track.

However, I still think the `IntoUrl` interface makes our typestate
machines easier to work downstream with for the tradeoff of added
complexity in our crate.

Note, in payjoin-cli We're still validating URLs in configuration, and
using the `url::Url` abstraction in function signatures makes more sense
than becoming more loose for testing.

The greatest advantage of this change may accrue to downstream FFI
users, who I imagine use their native language's Url type and conversion
to a stringly type that payjoin-ffi handles using IntoUrl rather than
forcing them to use the `payjoin::Url` re-export and error handling.

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