feat: Print human readable type name in error messages

[l0b0]

Based on https://stackoverflow.com/a/13477954/96588.

Also add tests to verify the exception being thrown.

Related Issue(s): #331

Description:

PR Checklist:

• Code is formatted (run pre-commit run --all-files)
• Tests pass (run scripts/test)
• Documentation has been updated to reflect changes, if applicable
• This PR maintains or improves overall codebase code coverage.
• Changes are added to the CHANGELOG. See the docs for information about adding to the changelog.

[codecov-commenter]

Codecov Report

Merging #498 (c364212) into main (c0f0b6d) will increase coverage by 0.10%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##             main     #498      +/-   ##
==========================================
+ Coverage   95.43%   95.54%   +0.10%     
==========================================
  Files          71       71              
  Lines        9978    10008      +30     
==========================================
+ Hits         9523     9562      +39     
+ Misses        455      446       -9     

Impacted Files	Coverage Δ
pystac/extensions/datacube.py	62.64% <ø> (+0.37%)	⬆️
pystac/extensions/eo.py	96.69% <ø> (ø)
pystac/extensions/file.py	95.38% <ø> (ø)
pystac/extensions/item_assets.py	68.29% <ø> (+2.43%)	⬆️
pystac/extensions/label.py	96.63% <ø> (ø)
pystac/extensions/pointcloud.py	96.69% <ø> (ø)
pystac/extensions/projection.py	97.60% <ø> (+0.79%)	⬆️
pystac/extensions/raster.py	90.97% <ø> (+0.36%)	⬆️
pystac/extensions/sat.py	96.92% <ø> (+1.53%)	⬆️
pystac/extensions/scientific.py	96.91% <ø> (+0.61%)	⬆️
... and 16 more

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[duckontheweb]

👍