This PR simplifies the signature of `Array.mapIdx`, to take a function
`f : Nat \to \a \to \b` rather than a function `f : Fin as.size \to \a
\to \b`.
Lean doesn't actually use the extra generality anywhere (so in fact this
change *simplifies* all the call sites of `Array.mapIdx`, since we no
longer need to throw away the proof).
This change would make the function signature equivalent to
`List.mapIdx`, hence making it easier to write verification lemmas.
We keep the original behaviour as `Array.mapFinIdx`.
