update docs to true pdoc, integrate into github actions

[jacobdadams]

Current docs use pdoc3, a questionably-maintained fork of pdoc itself. pdoc is showing the instance variables set by __init__, and I need to figure out how to remove those from the docs for readability (visually they look like methods and are kind of confusing).

Also, pdoc has an example github action to publish docs, automating the doc process.