[FEATURE] Support http bearer token authentication

### Code of Conduct

- [X] I agree to follow this project's [Code of Conduct](https://www.apache.org/foundation/policies/conduct)

### Search before asking

- [X] I have searched in the [issues](https://github.com/apache/kyuubi/issues?q=is%3Aissue) and found no similar issues.

### Describe the feature

The same with celeborn https://github.com/apache/celeborn/blob/main/service/src/main/scala/org/apache/celeborn/server/common/http/authentication/BearerAuthenticationHandler.scala

To support bearer token authentication.

### Motivation

Bearer token authentication is widely used.

### Describe the solution

Refer: https://github.com/apache/celeborn/blob/main/service/src/main/scala/org/apache/celeborn/server/common/http/authentication/BearerAuthenticationHandler.scala
https://github.com/apache/celeborn/pull/2440

### Additional context

_No response_

### Are you willing to submit PR?

- [ ] Yes. I would be willing to submit a PR with guidance from the Kyuubi community to improve.
- [ ] No. I cannot submit a PR at this time.

Start by reading Celeborn's referenced BearerAuthenticationHandler.scala and pull request 2440 to understand the proposed authentication behavior. Then locate the corresponding HTTP authentication area in Kyuubi and determine how bearer token support should fit there. Done means Kyuubi supports bearer token authentication consistently with the requested feature.

Written by the indexing model from the issue text.