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Allow JWT::decode to accept an empty string as a valid kid
There are instances when using CachedKeySet where a key is returned with an empty string as the kid.
This is a valid use case and should be allowed.
For example Teleport Proxy uses this pattern to allow for a default key.
The getKey method can be simplified, as well as refactored to follow the same pattern as
the CachedKeySet class which casts null kids to an empty string.
This change also adds a test to ensure that an empty string kid is a valid kid.
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