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Strengthen assertion of `mpi4py` availability.

M. Eric Irrgang requested to merge 4423-mpi4py-dependency-cleanup into main

In #4423 (closed), we decided to require mpi4py for the gmxapi Python package. This change simplifies some code and removes some conditionals allowing for mpi4py.MPI unavailability, and offers some documentation clarifications.

Ref #4422 (closed), #4423 (closed)

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