Tweak the apidocs build

* Be more explicit about napoleon config, and tweak to allow
  "Attribute" to be grouped as for "Arguments" (:attr: and :param:
  in the numpy style).
* Disable inherited members for the Errors module, because the
  exception classes were picking up bits from the Python base
  Exception, which has no annotation available.
* Update the introduction.

Experimentally, try the "sphinx-book" theme (we can go back to
sphinx-rtd-theme before pushing if this is disliked).

Signed-off-by: Mats Wichmann <mats@linux.com>

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