Add identity-based TLS auth and UI for client/daemon auth

Add identity-based TLS authentication and use public keys to authenticate access.
This is an implementation of the proposal from #7667.

FSNotify support has not been added to detect changes to authorized keys but may be added in a follow up PR.

This should be a properly formatted note - https://github.com/docker/docker/blob/master/docs/sources/contributing/docs_style-guide.md#notes