X509 time: tighten validation per RFC 5280

- Reject fractional seconds
- Reject offsets
- Check that the date/time digits are in valid range.
- Add documentation for X509_cmp_time

GH issue 2620

Backported from 80770da3



Reviewed-by: Rich Salz <rsalz@openssl.org>
Reviewed-by: Matthias St. Pierre <Matthias.St.Pierre@ncp-e.com>
(Merged from https://github.com/openssl/openssl/pull/6181)