Rescue Rack::Utils::ParameterTypeError instead of TypeError

As of rack/rack@167b6480235ff00ed5f355698bf00ec2f250f72e, Rack raises
Rack::Utils::ParameterTypeError which inherits TypeError.

In terms of the behavior, Rescuing TypeError still works but this
method shouldn't rescue if TypeError is raised for other reasons.
Merge pull request #16912 from yuki24/rescue-rack-parameter-type-error

Rescue `Rack::Utils::ParameterTypeError` instead of `TypeError`