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Use mamba for readthedocs builds

Duncan Macleod requested to merge rtd-mamba into main

This PR updates the .readthedocs.yml configuration file so that mamba is used to build the environment - this greatly reduces the overhead of the build. See https://docs.readthedocs.io/en/stable/guides/conda.html#making-builds-faster-with-mamba for an explanation of the changes.

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