Invalid token (base64 error) isn't mapped to an RFC6749Error error

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Describe the bug

When the access token is invalid base64 (it was accidentally prefixed with a $ sign), the resulting error is "The error is unrecognizable".

Error is base64.CorruptInputError

It seems like it would be benefitial to map this to a more obvious error response (e.g. invalid_token)

Reproducing the bug

Prefix a valid access token with a '$' (or probably other non-base64 character) and send request to the server.

Relevant log output

No response

Relevant configuration

No response

Version

v0.43.0

On which operating system are you observing this issue?

macOS

In which environment are you deploying?

Kubernetes

Additional Context

No response