refactor(group_theory/coset): redefine quotient group to be quotient by action of subgroup (#15045)
Given a group `α` and subgroup `s`, redefine the relation `left_rel` ("being in the same left coset") to
```lean
def left_rel : setoid α := mul_action.orbit_rel s.opposite α
```
This means that a quotient group is definitionally a quotient by a group action.
[Zulip](https://leanprover.zulipchat.com/#narrow/stream/116395-maths/topic/two.20different.20quotients.20by.20subgroup)