Update docker instructions to use Ubuntu 22.04

[beroset]

Summary

If merged this pull request will update the docker instructions to build using a base image of Ubuntu 22.04 rather than 18.04 which no longer builds. This fixes #2593.

Proposed changes

Change the build instructions to use Ubuntu 22.04 as base. Within the documented Dockerfile the changes are:

• Install libboost-all-dev rather than individual boost package for the builder (since we don't care about size for this)
• clone with --recurse-submodules
• use modern cmake --build syntax to eliminate steps
• specify "Release" build to make smaller image
• combine installation steps in target version
• update install to include pip and up-to-date versions of boost components

[phlptp]

This area of the documentation probably needs some more updates as I think there might be a few more unnecessary things in here, but this is great, thanks!