Improve ONNX importer API documentation (#4386)
* Split api to onnx_utils, headers refactor
* Improved ONNX importer API doc
* styles applied
* Code review remarks introduced
* remarks introduced, style applied
* Code review remarks introduced
* namespaces description added
* Code review remarks introduced
* styles applied
* Fixed onnx_utils doc and margin alignment
* code review remarks introduced
Co-authored-by: Michał Karzyński <postrational@users.noreply.github.com>
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