feat: Support DID as service (actor) ID

[bstasyszyn]

A service ID may be configured as a DID and the public key (used for HTTP signature verifications) may be configured as a key ID referencing a public key within the service's DID document.

closes #1113

Signed-off-by: Bob Stasyszyn Bob.Stasyszyn@securekey.com

[codecov]

Codecov Report

Merging #1423 (21915b1) into main (adb3687) will decrease coverage by 0.06%.
The diff coverage is 85.18%.

❗ Current head 21915b1 differs from pull request most recent head 7408cd4. Consider uploading reports for the commit 7408cd4 to get more accurate results

@@            Coverage Diff             @@
##             main    #1423      +/-   ##
==========================================
- Coverage   88.00%   87.93%   -0.07%     
==========================================
  Files         206      207       +1     
  Lines       19227    19517     +290     
==========================================
+ Hits        16920    17163     +243     
- Misses       1475     1501      +26     
- Partials      832      853      +21     

Impacted Files	Coverage Δ
pkg/activitypub/resthandler/resthandler.go	89.47% <ø> (ø)
...vitypub/service/activityhandler/activityhandler.go	98.24% <ø> (ø)
pkg/activitypub/httpsig/algorithm.go	85.48% <50.00%> (ø)
cmd/orb-server/startcmd/params.go	82.09% <60.00%> (-0.13%)	⬇️
pkg/observer/observer.go	83.57% <66.66%> (-1.22%)	⬇️
cmd/orb-server/startcmd/start.go	68.37% <73.00%> (+0.51%)	⬆️
pkg/document/resolvehandler/resolvehandler.go	96.78% <75.00%> (-1.94%)	⬇️
pkg/discovery/endpoint/client/client.go	82.53% <81.15%> (-1.48%)	⬇️
pkg/activitypub/client/client.go	85.24% <83.05%> (-0.88%)	⬇️
pkg/discovery/endpoint/restapi/operations.go	88.60% <83.33%> (+0.38%)	⬆️
... and 22 more

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