Restrict numcodecs dependency to <0.16

[rly]

Motivation

Fix hdmf-dev/hdmf-zarr#269 if users run pip install hdmf[zarr]

Checklist

• Did you update CHANGELOG.md with your changes?
• Does the PR clearly describe the problem and the solution?
• Have you reviewed our Contributing Guide?
• Does the PR use "Fix #XXX" notation to tell GitHub to close the relevant issue numbered XXX when the PR is merged?

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 91.63%. Comparing base (d13b9cf) to head (edaae9b).
Report is 19 commits behind head on dev.

Additional details and impacted files

@@            Coverage Diff             @@
##              dev    #1257      +/-   ##
==========================================
+ Coverage   91.58%   91.63%   +0.05%     
==========================================
  Files          42       42              
  Lines        9550     9550              
  Branches     1920     1920              
==========================================
+ Hits         8746     8751       +5     
+ Misses        525      521       -4     
+ Partials      279      278       -1     

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