Update doorkeeper requirement from ~> 5.2.0 to >= 5.2, < 5.4

Updates the requirements on [doorkeeper](https://github.com/doorkeeper-gem/doorkeeper) to permit the latest version.
- [Release notes](https://github.com/doorkeeper-gem/doorkeeper/releases)
- [Changelog](https://github.com/doorkeeper-gem/doorkeeper/blob/master/CHANGELOG.md)
- [Commits](doorkeeper-gem/doorkeeper@v5.2.0...v.5.3.0)

Signed-off-by: dependabot-preview[bot] <support@dependabot.com>

doorkeeper-openid_connect.gemspec

@@ -19,7 +19,7 @@ Gem::Specification.new do |spec|
 
   spec.required_ruby_version = ">= 2.4"
 
-  spec.add_runtime_dependency 'doorkeeper', '~> 5.2.0'
+  spec.add_runtime_dependency 'doorkeeper', '>= 5.2', '< 5.4'
   spec.add_runtime_dependency 'json-jwt', '>= 1.11.0'
 
   spec.add_development_dependency 'rspec-rails'