arrow

GH-41430: [Docs] Use sphinxcontrib-mermaid instead of generating images from .mmd (#41455)

### Rationale for this change

This is for easy to maintain. 

### What changes are included in this PR?

* Install sphinxcontrib-mermaid
* Install Chromium to generate SVG from .mmd
* Use Debian instead of Ubuntu for building docs because Ubuntu provides Chromium only via snap
* Use a normal user not root to build documents because Mermaid require additional `--no-sandbox` argument when we use root

### Are these changes tested?

Yes.

### Are there any user-facing changes?

No.
* GitHub Issue: #41430

Authored-by: Sutou Kouhei <kou@clear-code.com>
Signed-off-by: Sutou Kouhei <kou@clear-code.com>