Remove require of websocket in selenium-devtools gem (#10868)

* Remove require of websocket with selenium-devtools gem and add runtime dependency for selenium-webdriver

In e89eb1 the dependency of websocket was moved from devtools.rb to websocket_connection.rb. This broke the selenium-devtools gem while Selenium 4.2 was not yet released. It was temporarily fixed in #10414. When using Selenium 4.2+ it is again no longer needed to be required in devtools.rb.