Reformat documentation of libpq escaping functions.

Reformat documentation of libpq escaping functions.

Modify the "Escaping Strings for Inclusion in SQL Commands" section
to use a <variablelist> as the preceding and following sections do,
and merge the "Escaping Binary Strings for Inclusion in SQL Commands"
section into it.

This changes only the formatting of these sections, not the content.
It is intended to lay the groundwork for a follow-on patch to add
some new escaping functions, but it makes sense to commit this first,
for clarity.