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Utilities/Sphinx: Avoid deprecated docutils error handling helpers

The SafeString and ErrorString classes are deprecated and will be removed in Docutils 0.21 or later. They help avoid encoding errors during exception handling in Python <= 2.7, but these days we always use Python 3 to build the documentation, at least during development, when error cases are most likely to occur.

Fixes: #24039 (closed)

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