Update the intersphinx_utils extension for Sphinx 3+

Review Request #11485 — Created Feb. 25, 2021 and submitted — Latest diff uploaded

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beanbag-docutils
master

Reviewers

In Sphinx 3 and up, the listeners for missing references are represented
as a list. Earlier versions use a dictionary. This change updates the
code to check for either form, bringing compatibility to both.

Been using this to build docs on Sphinx 2 and 3.

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