feat: Ability to fetch JWK fromPyJWKSet based on the token

[henryh9n]

PyJWKClient provides a pretty nice interface. It has get_signing_keys, which caches the keys and get_signing_key_from_jwt as a really smooth way to get the key for the given token.

However, if I use PyJWKSet without the client, I'll have to do a lot of this steps manually.

Would be nice to have some similar functionality for PyJWKSet.
One option would be to have get_signing_key_from_jwt method on PyJWKSet.
More advanced option would be to have some kind of PyJWKStore that encapsulates all this methods. It then can be reused by the PyJWKClient and can also load they keys from a JSON or a dict.

[henryh9n]

@jpadilla Let me know what you think. I can pick this up

[henryh9n]

One other nice related feature would be to be able to pass a PyJWKSet to jwt.decode() function.