[clang][extract-api] Refactor ExtractAPI and improve docs

- The name SymbolGraph is inappropriate and confusing for the new library
  for clang-extract-api. Refactor and rename things to make it clear that
  ExtractAPI is the core functionality and SymbolGraph is one serializer
  for the API information.
- Add documentation comments to ExtractAPI classes and methods to improve
  readability and clearness of the ExtractAPI work.

Differential Revision: https://reviews.llvm.org/D122160