Unpin numpy and add 3.12 to supported versions list

[BrianJKoopman]

Description

This removes the pin on numpy, and updates the list of supported Python versions to include 3.12.

Motivation and Context

This should be fine now that so3g supports numpy 2 [1].

[1] - https://github.com/simonsobs/so3g/releases/tag/v0.2.0

How Has This Been Tested?

Installed and ran ocs tests on Python 3.12.9 locally.

Types of changes

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)

Checklist:

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.