iterated DID document formatting
Uses new-ish "Multikey"[0] verificationMethod format, along with
compact multicode-prefixed multibase encoding (which matches did:key
encoding).
Also prefixes the verificationMethod 'id' field with the full DID URL
(instead of just "#atproto" fragment), to comply with DID Core
specification.
[0]: https://www.w3.org/TR/2023/WD-vc-data-integrity-20230810/