Library usage and Default values

When using SAM translator as a library on the following template
```
AWSTemplateFormatVersion: '2010-09-09'
Transform: AWS::Serverless-2016-10-31
Description: mvp

Parameters:
AuthorizerFunctionArn:
Type: AWS::SSM::Parameter::Value
Default: authorizer.arn
Description: Gatekeeper Authorizer Function Arn

Resources:
RestApi:
Type: AWS::Serverless::Api
Properties:
Name: my-api
StageName: v1
EndpointConfiguration:
Type: REGIONAL
BinaryMediaTypes:
- "*~1*"
Auth:
Authorizers:
GatekeeperAuth:
FunctionArn: !Ref AuthorizerFunctionArn
DefaultAuthorizer: GatekeeperAuth
```

will provide a template with
```
"RestApiGatekeeperAuthAuthorizerPermission": {
"Properties": {
"Action": "lambda:InvokeFunction",
"FunctionName": "authorizer.arn",
"Principal": "apigateway.amazonaws.com",
```

This is because [this code](https://github.com/aws/serverless-application-model/blob/15dc964a9e47e084b809985bbe898f7441e8a67b/samtranslator/sdk/parameter.py#L62-L64) will read the Default value. Not sure fully how this works server side but the SSM parameter substitution must substitute its value into the Default space? Either way it may be nice to not have this value substituted when using SAM translator as a library if the value is a SSM parameter. Or a feature flag that would prevent using Default values at all as I would prefer the REF to be based to any newly created resources.

https://github.com/aws-cloudformation/cfn-lint/issues/3640