CMP app: improve doc and help output on -{req,rsp}{in,out} options

Reviewed-by: Tomas Mraz <tomas@openssl.org>
Reviewed-by: Paul Dale <pauli@openssl.org>
Reviewed-by: David von Oheimb <david.von.oheimb@siemens.com>
(Merged from https://github.com/openssl/openssl/pull/20204)

(cherry picked from commit 77aa0069)