Convert guide from single markdown file to mdbook (#1247)

* move old implementers' guide, add skeleton of new

* Split the old implementers' guide into the new one's sections

This is mostly a straightforward copying operation, moving the
appropriate sections from the old guide to the new. However, there
are certain differences between the old text and the new:

- removed horizontal rules between the sections
- promoted headers appropriately within each section
- deleted certain sections which were in the old guide's ToC but
  which were not actually present in the old guide.
- added Peer Set Manager to the new ToC

* remove description headers

It is redundant and unnecessary. Descriptions fall directly under the
top-level header for any given section.

* add stub description of the backing module

* add stub description for the availability module

* add stub description for collators

* add stub description for validity

* add stub description for utility

* highlight TODO and REVIEW comments

* add guide readme describing how to use mdbook

* fix markdownlint lints

* re-title parachains overview

* internal linking for types

* module and subsystem internal links

* .gitignore should have a trailing newline

* node does not have modules, just subsystems