Bump idna from 2.10 to 3.1

Bumps [idna](https://github.com/kjd/idna) from 2.10 to 3.1.
- [Release notes](https://github.com/kjd/idna/releases)
- [Changelog](https://github.com/kjd/idna/blob/master/HISTORY.rst)
- [Commits](kjd/idna@v2.10...v3.1)

Signed-off-by: dependabot[bot] <support@github.com>

requirements.txt

@@ -15,7 +15,7 @@ google-resumable-media==1.3.0
 googleapis-common-protos==1.53.0
 grpcio==1.38.0
 identify==2.2.6
-idna==2.10
+idna==3.1
 nodeenv==1.6.0
 numpy==1.20.3
 packaging==20.9