chore: merge master into develop

[keetonian]

Issue #, if available:
N/A

Description of changes:
Merges master back into develop after v1.21.0 release

Description of how you validated changes:

Checklist:

• Write/update tests
• make pr passes
• Update documentation
• Verify transformed template deploys and application functions as expected
• Add/update example to examples/2016-10-31

By submitting this pull request, I confirm that my contribution is made under the terms of the Apache 2.0 license.

[alexw91]

Codecov Report

Merging #1463 into develop will increase coverage by 0.27%.
The diff coverage is n/a.

@@             Coverage Diff             @@
##           develop    #1463      +/-   ##
===========================================
+ Coverage    94.40%   94.67%   +0.27%     
===========================================
  Files           78       78              
  Lines         4556     5056     +500     
  Branches       911     1100     +189     
===========================================
+ Hits          4301     4787     +486     
- Misses         120      124       +4     
- Partials       135      145      +10     

Impacted Files	Coverage Δ
samtranslator/swagger/swagger.py	92.43% <0.00%> (-0.46%)	⬇️
samtranslator/model/api/api_generator.py	95.09% <0.00%> (-0.04%)	⬇️
samtranslator/model/apigateway.py	97.64% <0.00%> (-0.32%)	⬇️
samtranslator/model/eventsources/push.py	91.34% <0.00%> (+1.04%)	⬆️
samtranslator/model/api/http_api_generator.py	99.40% <0.00%> (+1.29%)	⬆️
samtranslator/open_api/open_api.py	95.87% <0.00%> (+1.98%)	⬆️

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