Update sphinx-autodoc-typehints to 3.9.6

[pyup-bot]

This PR updates sphinx-autodoc-typehints from 2.3.0 to 3.9.6.

The bot wasn't able to find a changelog for this release. Got an idea?

Links

• PyPI: https://pypi.org/project/sphinx-autodoc-typehints

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[pyup-bot]

Closing this in favor of #674