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Add :md and :markdown formatters that render an object's to_markdown (#3025)

Rails 8.1 registers text/markdown as Mime[:md] and adds
`render markdown: obj`, which calls obj.to_markdown. Grape::Formatter::Markdown
is the same contract for Grape: an object answering to_markdown is
rendered with it and a String is returned as is. Anything else raises
Grape::Exceptions::InvalidFormatter, so a client that negotiated Markdown
for a Hash body gets the default format instead of its #to_s.

.md and .markdown are both common Markdown extensions, so :md and
:markdown name the same format. Declaring either content type answers
both extensions and both ?format= spellings: the Formatter middleware
resolves the other name through ContentTypes::FORMAT_SYNONYMS to the one
the API declared, so a formatter, parser or error formatter declared for
that name applies too. The lookup runs only when the requested format is
not declared, so the common path is unchanged.
Grape::Formatter::Md, an empty subclass of Markdown, registers the same
rendering under :md. Each class names its own format in the
InvalidFormatter message, derived from the class name the way the
registry derives its key.

Neither is a default content type; an API opts in with
`content_type :md, 'text/markdown; charset=utf-8'`. Errors keep the text
error formatter, and a text/markdown request body passes through
unparsed.

Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com>

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