docs: Update the Contact document

Try to make it more clear that Discord is not Discourse, as the two
similarly sounding services are often confused by users unfamiliar
with them.

The Klipper Discourse and Klipper Discord are available for many
topics related to Klipper - reword some sections to make their use
more open.

Avoid referring to the Klipper github repo in this Contact document as
we no longer use Klipper github issues at all.

Remove the table of contents as it is largely redundant for the
document.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

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