Authorization based on JWT claims

[zhaohuabing]

Description:
Supports JWT claims as Principal in the Authorization configuration of a SecurityPolicy.

Part of #2250

Blocked by envoyproxy/envoy#34092
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@zetaab

[github-actions]

This issue has been automatically marked as stale because it has not had activity in the last 30 days.

[zetaab]

still valid

[github-actions]

This issue has been automatically marked as stale because it has not had activity in the last 30 days.

[zetaab]

fyi @zhaohuabing & @arkodg that envoy blocking PR just got merged.