fix(auth): Add MFAType.challengeResponse extension

[mattcreaser]

• PR title and description conform to Pull Request guidelines.

Issue #, if available:
#2677

Description of changes:

• Add an extension value to MFAType MFAType.TOTP.challengeResponse to get the value to pass to confirmSignIn.
• If an invalid value is passed to confirmSignIn during MFA selection then return a more descriptive InvalidParameterException.

How did you test these changes?

• Verified the expected exception is returned when an invalid parameter is passed
• Verified that using the challengeResponse extension value works as expected.

Documentation update required?

• No
• Yes - doc update work is pending

General Checklist

• Added Unit Tests
• Added Integration Tests
• Security oriented best practices and standards are followed (e.g. using input sanitization, principle of least privilege, etc)

By submitting this pull request, I confirm that my contribution is made under the terms of the Apache 2.0 license.

[codecov-commenter]

Codecov Report

Attention: 12 lines in your changes are missing coverage. Please review.

Comparison is base (861468f) 41.82% compared to head (2e301c5) 41.80%.

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Additional details and impacted files

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- Coverage   41.82%   41.80%   -0.03%     
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  Files         902      903       +1     
  Lines       29001    29015      +14     
  Branches     4107     4113       +6     
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- Hits        12130    12129       -1     
- Misses      15550    15561      +11     
- Partials     1321     1325       +4