Fix the build on RTD (#4322)

* Pin urllib3 to v1

* Upgrade docs to Python 3.11

* Unpin urllib3 in docs requirements

.readthedocs.yaml

@@ -4,12 +4,17 @@
 # Required
 version: 2
 
+# Set the version of Python and other tools you might need
+build:
+  os: ubuntu-22.04
+  tools:
+    python: "3.11"
+
 # Build documentation in the docs/ directory with Sphinx
 sphinx:
   configuration: docs/conf.py
 
-# Version of Python and requirements required to build the docs
+# Declare the Python requirements required to build your docs
 python:
-  version: "3.8"
   install:
     - requirements: docs/requirements.txt