Support raw input data in apps/pkeyutl

Some signature algorithms require special treatment for digesting, such
as SM2. This patch adds the ability of handling raw input data in
apps/pkeyutl other than accepting only pre-hashed input data.

Beside, SM2 requries an ID string when signing or verifying a piece of data,
this patch also adds the ability for apps/pkeyutil to specify that ID
string.

Reviewed-by: Matt Caswell <matt@openssl.org>
(Merged from https://github.com/openssl/openssl/pull/8186)