bugfix: make msc3967 idempotent (#16943)

MSC3967 was updated recently to make it more robust to network failures:

> there is an existing cross-signing master key and it exactly matches
the cross-signing master key provided in the request body. If there are
any additional keys provided in the request (self signing key, user
signing key) they MUST also match the existing keys stored on the
server. In other words, the request contains no new keys. If there are
new keys, UIA MUST be performed.


https://github.com/matrix-org/matrix-spec-proposals/blob/hughns/device-signing-upload-uia/proposals/3967-device-signing-upload-uia.md#proposal

This covers the case where the 200 OK is lost in transit so the client
retries the upload, only to then get UIA'd.

Complement tests: https://github.com/matrix-org/complement/pull/713 -
passing example
https://github.com/element-hq/synapse/actions/runs/7976948122/job/21778795094?pr=16943#step:7:8820

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---------

Co-authored-by: reivilibre <oliverw@matrix.org>

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