Standardize docstrings to NumPy style

@benjijamorris @chantelleleveille @eeangelini @jcass11 @vianamp @pgarrison @mogres @SergeEParent

This is a proposal for a set of work to update and standardize the existing docstrings to use the [NumPy style](https://numpydoc.readthedocs.io/en/latest/format.html). I'm proposing this change for a couple reasons:

- supports consistency and readability
- enables automatic documentation generation from docstrings using Sphinx
- addresses a chunk of the `ruff` linting errors

I am happy to work on this if people are on board. This will not impact any workflows and I can do it in chunks to make reviewing easier.