feat: reorganize libraries

[benluelo]

• rename IbcVersionId to IbcSpecId as this type no longer represents an IBC version, but rather the entire specification
• clean up ibc-solidity, removing unused definitions and moving some that are only used in one place into said place where they're used. this crate now only defines the IBC stack itself, so the ibc module was also inlined
• split IBC spec definitions out of voyager-message into their own crates
  • these crates define the interface of the individual IBC interfaces; there are still some rough edges but this is a good start
• remove ics24 module from unionlabs and move those store path definitions into the relevant IBC spec libraries
  • TODO: move unionlabs::id as well
• union-ibc now depends on voyager-core. i'm not super happy about this, but it's fine for now - i'm still working on the library design for the IBC specs, but i will likely split them further such that union-ibc can only depend on the parts it needs.

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