Display program sets

**Background**
The program set feature enables users to create and execute quantum tasks in a hierarchical structure. See the the [launch blog](https://aws.amazon.com/blogs/quantum-computing/amazon-braket-introduces-program-sets-enabling-customers-to-run-quantum-programs-up-to-24x-faster/) and [example notebooks](https://github.com/amazon-braket/amazon-braket-examples/tree/main/examples/braket_features/program_sets/).

**Current challenge**
Current print functionalities require [manual digging to discover this hierarchy](https://github.com/amazon-braket/amazon-braket-examples/blob/main/examples/braket_features/program_sets/program_set_utils.py#L9-L72), because there is no Braket SDK functionality for it. This issue is about designing and implementing a more informative print method of the ProgramSet class that shows the full hierarchy and prints high-level details of each prescribed execution. Such a feature will allow users to confirm that the program set they are about to submit has the desired number of executions in the desired hierarchy.

**Completion criteria**
To successfully tackle this issue, implement a new print method to the [ProgramSet](https://github.com/amazon-braket/amazon-braket-sdk-python/blob/main/src/braket/program_sets/program_set.py#L28) class that will create and display a visualization of the program set. We are looking for creative ways to display this hierarchy, either adaptively or by giving adjustable parameters to the user.

The method should rely on already used dependencies of the SDK. The created visualization should fit the width of most screens. The method may have inputs that specify the level of detail to be visualized; but even if the details of some nodes of the hierarchy are hidden, their existence should be indicated.