[Task]: Update the runner guide https://beam.apache.org/contribute/runner-guide/

### What needs to happen?

The guide is out of date. It refers to protos that does not even exist any more. More importantly, we need to add more details to guide the runner development.

### Issue Priority

Priority: 3 (nice-to-have improvement)

### Issue Components

- [ ] Component: Python SDK
- [ ] Component: Java SDK
- [ ] Component: Go SDK
- [ ] Component: Typescript SDK
- [ ] Component: IO connector
- [ ] Component: Beam examples
- [ ] Component: Beam playground
- [ ] Component: Beam katas
- [ ] Component: Website
- [ ] Component: Spark Runner
- [ ] Component: Flink Runner
- [ ] Component: Samza Runner
- [ ] Component: Twister2 Runner
- [ ] Component: Hazelcast Jet Runner
- [ ] Component: Google Cloud Dataflow Runner