Update PyZMQ

[keceli]

Current version of PyZMQ (22.3.0) doesn't work with Juypter. This PR:

• updates PyZMQ to 24.0.1 and requires an exact match to this version to avoid similar problems with other dependencies.
• Fixes static type checks with the new version.
• Adds Python 3.10 to the CI.

[codecov-commenter]

Codecov Report

Base: 61.54% // Head: 61.45% // Decreases project coverage by -0.08% ⚠️

Coverage data is based on head (94406d9) compared to base (5704158).
Patch coverage: 100.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #302      +/-   ##
==========================================
- Coverage   61.54%   61.45%   -0.09%     
==========================================
  Files         157      157              
  Lines        9477     9481       +4     
  Branches     1176     1218      +42     
==========================================
- Hits         5833     5827       -6     
- Misses       3390     3396       +6     
- Partials      254      258       +4     

Impacted Files	Coverage Δ
balsam/site/launcher/_serial_mode_master.py	87.82% <100.00%> (ø)
balsam/site/launcher/_serial_mode_worker.py	88.17% <100.00%> (-1.08%)	⬇️
balsam/site/service/main.py	73.77% <0.00%> (-9.84%)	⬇️
balsam/platform/scheduler/lsf_sched.py	31.75% <0.00%> (-0.22%)	⬇️
balsam/server/main.py	70.00% <0.00%> (ø)
balsam/cmdline/utils.py	26.38% <0.00%> (ø)
balsam/cmdline/server.py	25.71% <0.00%> (ø)
balsam/server/routers/apps.py	100.00% <0.00%> (ø)
balsam/site/service/processing.py	31.75% <0.00%> (ø)
... and 2 more

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