Drop support for Kaleido v0.x, and Orca

[emilykl]

Link to issue

Closes #5623, closes #5371

Description of change

• Drop support for Kaleido v0.x (only Kaleido v1.0 and greater are now supported)
• Drop support for Orca
• Remove deprecated engine argument from image IO functions
• Update tests accordingly
  • Add tests that expected errors are raised when Kaleido v0.x is installed

Note: plotly.js dev build CI job is expected to fail, and docs build will fail until docs are updated by #5678.

Testing strategy

• Updated existing tests according to the changes
• Added new test suite test_kaleido_v0_error.py which verifies that the expected error is raised when image IO functions are called with Kaleido v0.x installed

To test locally:

1. Pull this branch and run `pip install -e . ".[dev]"
2. Check that calling fig.write_image(px.scatter(y=[1,2,3]), "fig.png") works as expected and produces an image
3. Run pip install "kaleido<1"
4. Check that calling fig.write_image(px.scatter(y=[1,2,3]), "fig.png") raises a RuntimeError saying that only Kaleido version 1 and greater is supported

Guidelines

• I have reviewed the pull request guidelines and the Code of Conduct and confirm that this PR follows them.
• I have added an entry to the changelog if needed (not required for documentation PRs).

[camdecoster]

This looks good overall, but I have a few suggestions. Could you take a look at _sg_scraper.py? I think that might need to be updated since the Orca option with Sphinx Gallery was removed.

[camdecoster]

Suggested change

	fig:
	Figure object or dict representing a figure