Update sphinx requirement from <9,>=2.2 to >=2.2,<10

Updates the requirements on [sphinx](https://github.com/sphinx-doc/sphinx) to permit the latest version.
- [Release notes](https://github.com/sphinx-doc/sphinx/releases)
- [Changelog](https://github.com/sphinx-doc/sphinx/blob/master/CHANGES.rst)
- [Commits](sphinx-doc/sphinx@v2.2.0...v9.1.0)

---
updated-dependencies:
- dependency-name: sphinx
  dependency-version: 9.1.0
  dependency-type: direct:production
...

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

Author: dependabot[bot]

docs/requirements.txt

@@ -1,4 +1,4 @@
-sphinx >= 2.2, < 9
+sphinx >= 2.2, < 10
 sphinx-rtd-theme
 sphinx-autoapi
 sphinx-autodoc-typehints