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Improve creating and maintaining themes (#1924)

This PR improves the themes module by adding some quality of life features such as:

- Themes now inherit properties from the default theme. This allows modules to only define properties that are different from the default instead of having to explicitly declare all of them. This is useful for themes that reference core theme values for example.
- Because of theme inheritance, themes can now be created by only providing a theme name.
- When setting theme properties, you can now pass the string "default" to correctly target the default theme instead of knowing ahead of time what the default theme is called.
- Moved the default theme setting into the config module.
- Improved how `theme.remove()` works to allow more options in how properties or entire themes are removed.
- All custom properties can now be output using `css.output()`.
- All theme custom properties can now be output using `theme.output()`.

**Additional changes**

- Reverted theme output priority. This was causing theme classes to not properly override system preferences.
- Theme classes are again being applied to the `html` instead of the `body` element.
- Removed selector from `palette.output()`. This allows the mixin to be used in more contexts similar to `css.output()`.
- Added `empty-map()` function to core utilities that allows easily providing an empty map as a value.

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