Fix qpy serialization of substitution of type ParameterExpression (backport #13890)

[mergify]

When substitution history ParameterExpression._qpy_replay is serialized, there was no branch for the case that the substituted value is of type ParameterExpression.

This commit fixes this oversight.

• I have added the tests to cover my changes.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.

Tests need to be added.

Closes #13879

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This is an automatic backport of pull request #13890 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of a6fa6f8 has failed:

On branch mergify/bp/stable/1.4/pr-13890
Your branch is up to date with 'origin/stable/1.4'.

You are currently cherry-picking commit a6fa6f87d.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   qiskit/qpy/binary_io/value.py
	new file:   test/python/qpy/test_serialize_value_objects.py

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   test/qpy_compat/test_qpy.py

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[qiskit-bot]

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One or more of the following people are relevant to this code:

• @Qiskit/terra-core
• @mtreinish
• @nkanazawa1989

[coveralls]

Pull Request Test Coverage Report for Build 13632006440

Details

• 4 of 4 (100.0%) changed or added relevant lines in 1 file are covered.
• 22 unchanged lines in 3 files lost coverage.
• Overall coverage decreased (-0.006%) to 88.845%

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Files with Coverage Reduction	New Missed Lines	%
crates/qasm2/src/expr.rs	1	94.02%
crates/qasm2/src/lex.rs	9	90.98%
crates/qasm2/src/parse.rs	12	97.15%

Totals
Change from base Build 13530798718:	-0.006%
Covered Lines:	79385
Relevant Lines:	89352

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💛 - Coveralls