Authorization based on JWT claims

*Description*:
Supports JWT claims as `Principal` in the `Authorization` configuration of a `SecurityPolicy`.

Part of https://github.com/envoyproxy/gateway/issues/2250

Blocked by https://github.com/envoyproxy/envoy/issues/34092
[optional *Relevant Links*:]

@zetaab 


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Authorization based on JWT claims #3367

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Authorization based on JWT claims #3367

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