Update QPY format version history table (#16034)

With the 2.4.0 release pending this commit updates the version history
table to include the missing 2.3.1 and the future 2.4.0. Right now the
table only shows up to 2.3.0 which is not the current release. We should
add this to the release process checklist so we don't forget in future
release to update this table.

Author: mtreinish

qiskit/qpy/__init__.py

@@ -199,6 +199,12 @@ def open(*args):
    * - Qiskit (qiskit-terra for < 1.0.0) version
      - :func:`.dump` format(s) output versions
      - :func:`.load` maximum supported version (older format versions can always be read)
+   * - 2.4.0
+     - 13, 14, 15, 16, 17
+     - 17
+   * - 2.3.1
+     - 13, 14, 15, 16, 17
+     - 17
    * - 2.3.0
      - 13, 14, 15, 16, 17
      - 17