update requirements for docs to work again

docs/requirements_docs.txt

-sphinx==3.0.3
-sphinx-autoapi==1.3.0
-sphinx-autodoc-typehints==1.10.3
+sphinx==4.3.1
+sphinx-autoapi==1.8.4
+sphinx-autodoc-typehints==1.12.0
 sphinx-rtd-theme==0.4.3
 #recommonmark==0.6.0
-m2r2==0.2.5
+m2r2==0.3.1
 docutils<0.18
+mistune==0.8.4
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