Specify renderer in Visualize circuit timing

[abbycross]

Closes #4190.

It seems to be clearest to simply use fig.show(renderer="notebook") instead of fig.show() - unless there is a situation for some people where specifying the renderer wouldn't work, while only fig.show() would?... cc: @jyu00

Also removing warnings in a couple outputs.

[review-notebook-app]

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[qiskit-bot]

One or more of the following people are relevant to this code:

• @abbycross
• @beckykd
• @jyu00

[jyu00]

It seems to be clearest to simply use fig.show(renderer="notebook") instead of fig.show() - unless there is a situation for some people where specifying the renderer wouldn't work, while only fig.show() would?... cc: @jyu00

I recall someone telling me fig.show(renderer="notebook") fails the docs CI 🤔

[abbycross]

Seems to have passed just fine???