Implement VC API (#1657)

## Issue Addressed

NA

## Proposed Changes

- Implements a HTTP API for the validator client.
- Creates EIP-2335 keystores with an empty `description` field, instead of a missing `description` field. Adds option to set name.
- Be more graceful with setups without any validators (yet)
    - Remove an error log when there are no validators.
    - Create the `validator` dir if it doesn't exist.
- Allow building a `ValidatorDir` without a withdrawal keystore (required for the API method where we only post a voting keystore).
- Add optional `description` field to `validator_definitions.yml`

## TODO

- [x] Signature header, as per https://github.com/sigp/lighthouse/issues/1269#issuecomment-649879855
- [x] Return validator descriptions
- [x] Return deposit data
- [x] Respect the mnemonic offset
- [x] Check that mnemonic can derive returned keys
- [x] Be strict about non-localhost
- [x] Allow graceful start without any validators (+ create validator dir)
- [x] Docs final pass
- [x] Swap to EIP-2335 description field. 
- [x] Fix Zerioze TODO in VC api types.
- [x] Zeroize secp256k1 key

## Endpoints

- [x] `GET /lighthouse/version`
- [x] `GET /lighthouse/health`
- [x] `GET /lighthouse/validators` 
- [x] `POST /lighthouse/validators/hd`
- [x] `POST /lighthouse/validators/keystore`
- [x] `PATCH /lighthouse/validators/:validator_pubkey`
- [ ] ~~`POST /lighthouse/validators/:validator_pubkey/exit/:epoch`~~ Future works


## Additional Info

TBC

book/src/SUMMARY.md

@@ -19,6 +19,9 @@
 		* [/lighthouse](./api-lighthouse.md)
     		* [Validator Inclusion APIs](./validator-inclusion.md)
 	* [Validator Client API](./api-vc.md)
+		* [Endpoints](./api-vc-endpoints.md)
+		* [Authorization Header](./api-vc-auth-header.md)
+		* [Signature Header](./api-vc-sig-header.md)
 	* [Prometheus Metrics](./advanced_metrics.md)
 * [Advanced Usage](./advanced.md)
     * [Database Configuration](./advanced_database.md)