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Utilities/Sphinx: Update man page config for Sphinx 4

Brad King requested to merge brad.king/cmake:sphinx-4 into master

Sphinx 4 by default generates man/#/foo.#, but older versions generate man/foo.# as our install rules expect. Update our Sphinx config file to tell Sphinx 4 to use the old layout.

Fixes: #22192 (closed)
Backport: release

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