Add advice for next step to error on AuthorizationException

[christianversloot]

Describe changes

In the case of setting stacks, it can be the case that authentication tokens have expired:

⠙ Setting the global active stack to 'stack-name'...Authentication token expired; refreshing...
⠹ Setting the global active stack to 'stack-name'...Your authentication token has expired. Please re-authenticate.

However, this is followed by a large traceback and a rather obscure error message.

╭─────────────────────────────── Traceback (most recent call last) ────────────────────────────────╮
...
╰──────────────────────────────────────────────────────────────────────────────────────────────────╯
AuthorizationException: Authentication error: error decoding access token

Experience taught me that this AuthorizationException means that you need to login again, but this can be unclear for inexperienced users.

This PR adapts the error message, providing a suggestion as to what to do (which is reauthenticating via zenml connect).

Pre-requisites

Please ensure you have done the following:

• I have read the CONTRIBUTING.md document.
• If my change requires a change to docs, I have updated the documentation accordingly.
• I have added tests to cover my changes. --> figured this isn't necessary as no real code changes are taking place, only a diff in the error message.
• I have based my new branch on develop and the open PR is targeting develop. If your branch wasn't based on develop read Contribution guide on rebasing branch to develop.
• If my changes require changes to the dashboard, these changes are communicated/requested.

Types of changes

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)
• Other (add details above)

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