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feat: Add custom UnauthorizedException + mapper

Resolves #52 (closed)

This MR adds a custom UnauthorizedException as well as a corresponding mapper class. This approach was used over the since it exhibited odd behavior when paired with a mapper.

Logging the within the ExceptionMapper would not reveal the cause. This behavior is not desirable since it does not provide adequate information when it is thrown in response to a separate exception bubbling up.

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