doc: update sphinx requirements to later versions
Update package versions in doc/sphinx/requirements.txt:
jinja2==3.1.1
requests==2.27.0
pygments==2.11.2
sphinx==4.5.0
sphinx-rtd-theme==1.0.0
recommonmark==0.7.0
breathe==4.33.1
urllib3==1.26.7
doc build had been failing with the previous version of sphinx importing
markupsafe.soft_unicode. Updating jinja2 required updating others for compatibility.
babel==2.9.1
-Jinja2==2.11.3
-requests==2.25.1
+Jinja2==3.1.1
+requests==2.27.0
docutils==0.14
-pygments==2.7.4
-sphinx==3.4.3
-sphinx-rtd-theme==0.4.3
+pygments==2.11.2
+sphinx==4.5.0
+sphinx-rtd-theme==1.0.0
sphinx_fontawesome==0.0.6
sphinx-markdown==1.0.2
-recommonmark==0.6.0
-breathe==4.26.1
-urllib3==1.26.5
+recommonmark==0.7.0
+breathe==4.33.1
+urllib3==1.26.7
