feat(parser): add support for API Gateway Lambda authorizer events

[leandrodamascena]

Issue number: #4536

Summary

Changes

This PR adds support for 3 new Models:

• Add ApiGatewayAuthorizerRequest for Lambda Authorizer Request type in API Gateway v1 (REST)
• Add ApiGatewayAuthorizerToken for Lambda Authorizer Token type in API Gateway v1 (REST)
• Add ApiGatewayAuthorizerRequestV2 for Lambda Authorizer in API Gateway v2 (HTTP)

User experience

from aws_lambda_powertools.utilities.parser import event_parser
from aws_lambda_powertools.utilities.parser.models import ApiGatewayAuthorizerToken

@event_parser
def lambda_handler(event: ApiGatewayAuthorizerToken, context):
  ...

Checklist

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• Meet tenets criteria
• I have performed a self-review of this change
• Changes have been tested
• Changes are documented
• PR title follows conventional commit semantics

Is this a breaking change?

RFC issue number:

Checklist:

• Migration process documented
• Implement warnings (if it can live side by side)

Acknowledgment

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 96.42%. Comparing base (ca423a6) to head (3f21e79).

Additional details and impacted files

@@           Coverage Diff            @@
##           develop    #4718   +/-   ##
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  Coverage    96.42%   96.42%           
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  Files          223      223           
  Lines        10744    10755   +11     
  Branches      2001     2001           
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+ Hits         10360    10371   +11     
  Misses         270      270           
  Partials       114      114           

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[dreamorosi]

LGTM!