add detailed error explanations page (#3734)

I was speaking to several customers that found our connection poisoning
terminology confusing. To address this, I've changed the messaging and
I've also created a new section in the docs that explains some errors in
greater detail. To direct users to these explanations, I've added a link
to the `tracing::info!` call.

I propose that we consider doing the same any time we identify error
messaging that
- must be kept succinct to avoid logging too much info
- must be more understandable to our users.

----

_By submitting this pull request, I confirm that you can use, modify,
copy, and redistribute this contribution, under the terms of your
choice._