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Use __init__ type hints in "description" mode
Previously, `__init__` type hints were not used when documenting a class using `autodoc_typehints="description"`. This was done to prevent documentation for parameters from showing up twice, both for the class and the `__init__` special method. As the new ``autodoc_typehint_undoc`` option provides a better way to prevent this bad behavior by placing the user in control of where the type hints are added, it is now safe to add type hints for documented `__init__` parameters. Closes sphinx-doc#8178
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