Add auto_error parameter and fix authorization bug

[torkashvand]

Description:
When is_bypassable_request decides to bypass a request for any reason, it sends None to the authorize function in the Authorization classes. This causes a bug because the authorize function expects a user as a dict.

I also made the authenticate function more explicit about the id_token_extractor. It used to raise an exception when it couldn't find a token in the header. I removed the line that returned None after this, as it wasn't necessary.
The function is already set to raise an exception when it can't find a token, so that code wasn't needed.

Changes Made

• Added auto_error parameter to the extract method in IdTokenExtractor.
• Updated HttpBearerExtractor to use the auto_error parameter.
• Fixed bug where bypassable requests sent None to the authorize function, causing authorization failures.
• Made the authenticate method explicit about id_token_extractor and removed unnecessary lines that returned None.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 87.63%. Comparing base (79097ec) to head (3fe3bfa).

Additional details and impacted files

@@            Coverage Diff             @@
##           master      #63      +/-   ##
==========================================
+ Coverage   87.05%   87.63%   +0.58%     
==========================================
  Files           5        5              
  Lines         363      364       +1     
  Branches       32       32              
==========================================
+ Hits          316      319       +3     
+ Misses         34       33       -1     
+ Partials       13       12       -1     

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