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Provider: Fix Scheduling FindPane for systemless service types (#8698)

In https://github.com/medplum/medplum/pull/8683 we changed how service
type matching works; previously the server was also directly
interpolating `${coding.system}|${coding.code}`, which meant that in
both client and server we would be generating strings like
"undefined|office-visit".

After that change though, the server was interpreting this input as
meaning "find exactly a coding matching system: 'undefined'", which is
more correct and also didn't match anything.

By coercing `undefined` values to the empty string, the new input
parameter is like "service-type=|office-visit", which will match only
codings missing a `system` attribute and with a `code` matching
"office-visit".

This fixes the scheduling FindPane for scheduling parameters with no
"system" component in their service types.

Signed-off-by: Noah Silas <noah@medplum.com>

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