[tutorials] Latex salad in {debug_,}mathematical_program

[jwnimmer-tri]

In tutorials/debug_mathematical_program.ipynb on Deepnote (see link) the cell display(Markdown(prog.ToLatex())) does not render correctly anymore..

Seen during v1.40.0 deployment, but might have happened earlier and we didn't notice.

[jwnimmer-tri]

Ditto for the same code in tutorials/mathematical_program.ipynb.

[jwnimmer-tri]

FYI @RussTedrake @hongkai-dai

[RussTedrake]

it looks like it's the \begin{align} that isn't working any more. it seems likely that deepnote has broken it broadly?

https://deepnote.com/app/sebastian-kvalden/Assignment-5-09170168-e0bd-46d3-b03c-30e497a433ef