Tracking issue: improve documentation coverage

[conorsch]

Prior to mainnet, and prior to security audit, we must expand the protocol documentation to include explanations of the following:

• docs: describe how penalty calculation works #2607
• docs: describe how delegator voting works #2608
• docs: describe swaps and swap claims for DEX #2609
• docs: document routing and routing execution in the spec #2656

[conorsch]

At sprint planning today, we broke out the subtasks into discrete tickets. As a starting point, I assigned folks on a best-guess basis; cc @hdevalence to reassign as necessary.