This PR updates the formatting of, and adds explanations for, "unknown
identifier" errors as well as "failed to infer type" errors for binders
and definitions.
It attempts to ameliorate some of the confusion encountered in #1592 by
modifying the wording of the "header is elaborated before body is
processed" note and adding further discussion and examples of this
behavior in the corresponding error explanation.
This PR fixes a bug where the signature pretty printer would ignore the
current setting of `pp.raw`. This fixes an issue where `#check ident`
would not heed `pp.raw`. Closes#6090.
