Change Principal to be TypedPrincipal in the authorize interceptor

[jannyHou]

Steps to reproduce

The authorizeInterceptor should use TypedPrincipal instead of Principal in the
authorization context.
And we should provide a default factory that converts a
user profile to a typed principal in @loopback/security.
See PR #3807

Current Behavior

Authorizer interceptor still uses a more general type Principal, see code and code

Expected Behavior

User TypedPrincipal instead.

Acceptance Criteria

• Refactor Principal to be TypedPrincipal in the authorize interceptor.

[jannyHou]

When I worked on #3807 I thought creating an instance of TypedPrincipal would be easier than having the converter. Just tried to change the Principal to TypedPrincipal on local and found it's not very reasonable, since it regenerate the securityId with type name as prefix, which is not a necessary in the current design.

I am closing this issue, we can reopen it when new features that needs this change get added to authorization.