gh-37557: Modified quaternion algebra documentation
Updated details for John Voight's book "Quaternion Algebras" in the list
of references and modified some docstrings in `quaternion_algebra.py`.
Split off from #37173.
URL: https://github.com/sagemath/sage/pull/37557
Reported by: Sebastian A. Spindler
Reviewer(s): Travis Scrimshaw
