Add BadOpaqueTokenException

Updated NimbusOpaqueTokenIntrospector and
NimbusReactiveOpaqueTokenIntrospector to throw.
Updated OpaqueTokenAuthenticationProvider and
OpaqueTokenReactiveAuthenticationManager to catch.

Fixes gh-7902

config/src/test/java/org/springframework/security/config/annotation/web/configurers/oauth2/server/resource/OAuth2ResourceServerConfigurerTests.java

@@ -1158,7 +1158,7 @@ public class OAuth2ResourceServerConfigurerTests {
 				.with(bearerToken("token")))
 				.andExpect(status().isUnauthorized())
 				.andExpect(header().string(HttpHeaders.WWW_AUTHENTICATE,
-						containsString("Provided token [token] isn't active")));
+						containsString("Provided token isn't active")));
 	}
 
 	@Test