Fix broken zarr intersphinx, limit zarr to < 3

[rly]

Motivation

Zarr intersphinx links are broken because of the recent update to Zarr v3. Fix the links and limit zarr version to < 3 until hdmf-zarr and hdmf support zarr v3.

Checklist

• Did you update CHANGELOG.md with your changes?
• Does the PR clearly describe the problem and the solution?
• Have you reviewed our Contributing Guide?
• Does the PR use "Fix #XXX" notation to tell GitHub to close the relevant issue numbered XXX when the PR is merged?

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 90.86%. Comparing base (85c9af8) to head (9b658bf).
Report is 1 commits behind head on dev.

Additional details and impacted files

@@           Coverage Diff           @@
##              dev    #1229   +/-   ##
=======================================
  Coverage   90.86%   90.86%           
=======================================
  Files          42       42           
  Lines        9524     9524           
  Branches     2725     2725           
=======================================
  Hits         8654     8654           
  Misses        576      576           
  Partials      294      294           

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