This PR adds some [devcontainers](https://containers.dev/) to help simplify building the KvikIO C++ and Python libraries.

It also adds an optional job to the `pr.yaml` to [build the KvikIO libs in each devcontainer](https://github.com/trxcllnt/kvikio/blob/fea/devcontainers/.github/workflows/pr.yaml#L62-L68), so the build caches are populated for devs by CI.

A devcontainer can be launched by clicking the "Reopen in Container" button that VSCode shows when opening the repo (or by using the "Rebuild and Reopen in Container" command from the command palette):
![image](https://user-images.githubusercontent.com/178183/221771999-97ab29d5-e718-4e5f-b32f-2cdd51bba25c.png)

Clicking this button will cause VSCode to prompt the user to select one of these devcontainer variants:
![image](https://github.com/rapidsai/rmm/assets/178183/68d4b264-4fc2-4008-92b6-cb4bdd19b29f)

On startup, the devcontainer creates or updates the conda/pip environment using `kvikio/dependencies.yaml`. The envs/package caches are cached on the host via volume mounts, which are described in more detail in [`.devcontainer/README.md`](https://github.com/trxcllnt/kvikio/blob/fea/devcontainers/.devcontainer/README.md).

The container includes convenience functions to clean, configure, and build the various KvikIO components:

```shell
$ clean-kvikio-cpp # only cleans the C++ build dir
$ clean-kvikio-python # only cleans the Python build dir
$ clean-kvikio # cleans both C++ and Python build dirs

$ configure-kvikio-cpp # only configures kvikio C++ lib

$ build-kvikio-cpp # only builds kvikio C++ lib
$ build-kvikio-python # only builds kvikio Python lib
$ build-kvikio # builds both C++ and Python libs
```

* The C++ build script is a small wrapper around `cmake -S ~/kvikio/cpp -B ~/kvikio/cpp/build` and `cmake --build ~/kvikio/cpp/build`
* The Python build script is a small wrapper around `pip install --editable ~/kvikio/cpp`

Unlike `build.sh`, these convenience scripts *don't* install the libraries after building them. Instead, they automatically inject the correct arguments to build the C++ libraries from source and use their build dirs as package roots:

```shell
$ cmake -S ~/kvikio/cpp -B ~/kvikio/cpp/build
$ CMAKE_ARGS="-Dkvikio_ROOT=~/kvikio/cpp/build" \ # <-- this argument is automatic
  pip install -e ~/kvikio/cpp
```

Authors:
  - Paul Taylor (https://github.com/trxcllnt)
  - Vyas Ramasubramani (https://github.com/vyasr)
  - Mads R. B. Kristensen (https://github.com/madsbk)

Approvers:
  - Mads R. B. Kristensen (https://github.com/madsbk)
  - Jake Awe (https://github.com/AyodeAwe)

URL: rapidsai#273