ENH: add support for chained reparameterisatons

[mj-will]

This PR reworks reparameterisations to add support for chaining multiple reparameterisations for a single parameter.

Example

Changes

• Refactored reparameterisations to use a specification class
• Move reparameterisation logic from the proposal class to standalone utils
• Added new keyword arguments (requires, prime_requires, inverse_requires, prime_parameters, available_parameters)

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 94.50%. Comparing base (4960fa1) to head (6a1b047).
⚠️ Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #480      +/-   ##
==========================================
+ Coverage   94.45%   94.50%   +0.04%     
==========================================
  Files          65       65              
  Lines        6823     6935     +112     
==========================================
+ Hits         6445     6554     +109     
- Misses        378      381       +3     

Flag	Coverage Δ
unittests	94.50% <100.00%> (+0.04%)	⬆️

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