[Dependabot]: Update sphinx-autodoc-typehints requirement

Updates the requirements on [sphinx-autodoc-typehints](https://github.com/tox-dev/sphinx-autodoc-typehints) to permit the latest version.
- [Release notes](https://github.com/tox-dev/sphinx-autodoc-typehints/releases)
- [Commits](tox-dev/sphinx-autodoc-typehints@3.6.0...3.9.5)

---
updated-dependencies:
- dependency-name: sphinx-autodoc-typehints
  dependency-version: 3.9.5
  dependency-type: direct:production
...

Signed-off-by: dependabot[bot] <support@github.com>

Author: dependabot[bot]

doc/requirements.txt

@@ -13,5 +13,5 @@ sphinxcontrib-mermaid ~= 2.0
 autoapi >= 2.0.1
 sphinx_design ~= 0.7.0
 sphinx-copybutton >= 0.5.0
-sphinx_autodoc_typehints ~= 3.6
+sphinx_autodoc_typehints ~= 3.9
 sphinx_reports ~= 0.10.0