ts: strictly typed query cursor async iterator

[borfig]

Closes #10252

Thanks for submitting a pull request! Please provide enough information so that others can review your pull request. The two fields below are mandatory.

If you're making a change to documentation, do not modify a .html file directly. Instead find the corresponding .pug file or test case in the test/docs directory.

Summary

This PR implements #10252

Examples

Currently, the following TypeScript code compiles, with the bug in the code:

import { Schema, model } from "mongoose";
interface Test {
  test: string;
}
const schema = new Schema<Test>({
  test: { type: String, required: true },
});
const TestModel = model<Test>("Test", schema);
async function main() {
  const cursor = TestModel.find({}).cursor();
  for await (const test of cursor) {
    console.log(test.tedt); // intentional bug
  }
}
main()

The proposed change makes the above not compile

[vkarpov15]

Thanks 👍