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Don't inject :type: for params with no description
Previously, if `autodoc_typehints="description"`, a `:type:` field would be added for every parameter and return type appearing in the annotation, including `**kwargs` and underscore-prefixed parameters that are meant to be private and `None` return types. After this commit, annotated parameters or return types will only result in a :type: or a :rtype: field being added if there is already a corresponding :param: or :return: field, to put users in control over whether a given parameter is documented.
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