Update dependencies

[hoxbro]

Updates required dependencies: Numpy 1.0 --> 1.21 Pandas 0.20.0 --> 1.3 Bokeh (moved up from recommended)

Updates recommended dependencies: Removed notebook and IPython. Moved Bokeh up to required.

[hoxbro]

goal of aligning the deps across the channels, rather than the intent to gain a few seconds on the CI.

Users are also affected by this. We pull in a big dependency that we don't use. I just noticed it is because of our CI.

For alignment, I would propose these as required dependencies.

bokeh >=3.1
colorcet
numpy >=1.0
packaging
pandas >=0.20.0
panel >=1.0
param >=2.0,<3.0
pyviz_comms >=2.1

Maybe even bump the lower pin of pandas and numpy to something released in the last 3-5 years, or even remove them as they are so low it doesn't matter.

(numpy 1.0 was released 25th October 2006, pandas 0.20.0 was released 5th May 2017)

[codecov[bot]]

Codecov Report

Attention: Patch coverage is 90.90909% with 3 lines in your changes are missing coverage. Please review.

Project coverage is 88.49%. Comparing base (f39e0a0) to head (2ef8690). Report is 1 commits behind head on main.

Files	Patch %	Lines
holoviews/plotting/renderer.py	50.00%	2 Missing :warning:
holoviews/core/util.py	95.65%	1 Missing :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #6253 +/- ## ========================================== + Coverage 88.48% 88.49% +0.01% ========================================== Files 323 323 Lines 67640 67599 -41 ========================================== - Hits 59848 59825 -23 + Misses 7792 7774 -18 ```

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