Print explicit foralls in type family eqns when appropriate

Summary:
When `-fprint-explicit-foralls` is enabled, type family
equations are either printed without an explict `forall` entirely,
or with a bizarre square bracket syntax (in the case of closed type
families). I find neither satisfying, so in this patch, I introduce
support for printing explicit `forall`s in open type-family, closed
type-family, and data-family equations when appropriate. (By "when
appropriate", I refer to the conditions laid out in
`Note [When to print foralls]` in `IfaceType`.)

One tricky point in the implementation is that I had to pick a
visibility for each type variable in a `CoAxiom`/`FamInst` in order
to be able to pass it to `pprUserIfaceForAll` //et al.// Because
the type variables in a type family instance equation can't be
instantiated by the programmer anyway, the choice only really matters
for pretty-printing purposes, so I simply went with good ol'
trustworthy `Specified`. (This design choice is documented in
`Note [Printing foralls in type family instances]` in `IfaceType`.)

Test Plan: make test TEST=T15827

Reviewers: goldfire, bgamari, simonpj

Reviewed By: simonpj

Subscribers: simonpj, rwbarton, carter

GHC Trac Issues: #15827

Differential Revision: https://phabricator.haskell.org/D5282

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