Expose existing PackageID to API and rename to ClaimId

Expose existing PackageID to API and rename to ClaimId

In a future commit, we plan to expand `BumpTransactionEvent` variants to
include the unique identifier assigned to pending output claims by the
`OnchainTxHandler` when a commitment is broadcast/confirmed. This
requires making it public in our API. We also choose to rename it to
`ClaimId` for the benefit of users, as the previous `PackageID` term
could be interpreted to be the ID of a BIP-331 transaction package.