Reorganize README, documentation updates

[bkoelman]

Based on changes from #1584.

Closes #1567.

QUALITY CHECKLIST

• N/A: Changes implemented in code
• Complies with our contributing guidelines
• N/A: Adapted tests
• Documentation updated

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 90.78%. Comparing base (c76ecdb) to head (547a569).
Report is 1 commits behind head on master.

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #1718   +/-   ##
=======================================
  Coverage   90.78%   90.78%           
=======================================
  Files         467      467           
  Lines       14611    14611           
  Branches     2299     2299           
=======================================
  Hits        13264    13264           
  Misses        917      917           
  Partials      430      430           

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