[ENH] update html parameter display to that of `scikit-learn`

scikit-learn has updated how they display parameters in the html display of estimators. We should update ours so it is the same and is also compatible when there are composite estimators with scikit-learn.

I suspect this might have to be done in scikit-base though where the code for the html display is located, but adding this in sktime for now is also an option to see how it plays out, and only then moving it to scikit-base.

(if you decide to work on it in scikit-base, please say that here and link the PR there, and/or open an issue in scikit-base)