S3Utilities.parseUri(): support unencoded URI

### Describe the bug

I currently have an S3 object with the S3 URI `s3://test-bucket/test file with spaces`. When I attempt to create an `S3Uri` object with the `parseUri()` method ([code](https://github.com/aws/aws-sdk-java-v2/blob/b0f57372dbe6be1fb2a6a54b05ad1f1a7e1e7700/services/s3/src/main/java/software/amazon/awssdk/services/s3/S3Utilities.java#L292)), I receive the following exception:

```kotlin
// Code with S3 client from v2 SDK
val s3Uri = s3Client.utilities().parseUri(URI("s3://test-bucket/test file with spaces"))

// Exception
Caused by: java.net.URISyntaxException: Illegal character in path at index 21: s3://test-bucket/test file with spaces
at java.net.URI$Parser.fail (:-1)
at java.net.URI$Parser.checkChars (:-1)
at java.net.URI$Parser.parseHierarchical (:-1)
```

This is due to the URI constructor, specifically because it does not allow input strings to have spaces in them. However, valid S3 URIs can contain spaces in them.

### Expected Behavior

```kotlin
// Code
val s3Uri = s3Client.utilities().parseUri(URI("s3://test-bucket/test file with spaces"))
println(s3Uri) // S3Uri(uri=s3://test-bucket/test file with spaces, bucket=test-bucket, key=test file with spaces, isPathStyle=false, queryParams={})
```

### Current Behavior

```kotlin
// Code with S3 client from v2 SDK
val s3Uri = s3Client.utilities().parseUri(URI("s3://test-bucket/test file with spaces"))

// Exception
Caused by: java.net.URISyntaxException: Illegal character in path at index 21: s3://test-bucket/test file with spaces
at java.net.URI$Parser.fail (:-1)
at java.net.URI$Parser.checkChars (:-1)
at java.net.URI$Parser.parseHierarchical (:-1)
```

### Reproduction Steps

```kotlin
val s3Uri = s3Client.utilities().parseUri(URI("s3://test-bucket/test file with spaces"))
```

### Possible Solution

_No response_

### Additional Information/Context

_No response_

### AWS Java SDK version used

2.0

### JDK version used

8

### Operating System and version

macOS 12.6.5

Start in services/s3/src/main/java/software/amazon/awssdk/services/s3/S3Utilities.java at S3Utilities.parseUri(), then trace how the supplied URI is read into its bucket and key components. Confirm the existing parseUri behavior and tests, and consider the issue done when an S3 URI containing unencoded spaces can be parsed while existing URI handling remains intact.

Written by the indexing model from the issue text.