Update pdfminer_utils.py (#3974)
Fix for 'PSSyntaxError' import error:
"cannot import name 'PSSyntaxError' from 'pdfminer.pdfparser'"
Latest pdfminer-six doesn't import PSSyntaxError into
`pdfminer.pdfparser` anymore. It must now be directly imported from its
source (`pdfminer.psexceptions`)
