Make ds integrals on prism/pyramids generate kernels for each facet type

[mscroggs]

Makes FFCx generate multiple kernels for forms using ds on cells that have facets of multiple types (eg for prisms, it makes kernels for triangles and quadrilaterals)

Key changes:

• Changed CommonExpressionIR.integrand from dict[QuadratureRule, dict] to dict[tuple[basix.CellType, QuadratureRule], dict] so that the facet type can be included
• Updated some other parts of CommonExpressionIR to be dicts with basix.CellType keys
• Added domain input to code generator for integral so that code to integrate on multiple facets can be generated

Resolves #735. Builds on #736 so that should be merged first.

[coveralls]

coverage: 82.272% (+0.04%) from 82.231%
when pulling 9881fb7 on mscroggs/prism-ds
into dc60815 on main.