Support %-encoded characters in DID method id

[UMR1352]

Description of change

Support %-encoded characters in DID method id.

Links to any relevant issues

Fixes issue #1299.

Type of change

• [x] Bug fix (a non-breaking change which fixes an issue)
• [ ] Enhancement (a non-breaking change which adds functionality)
• [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
• [ ] Documentation Fix

How the change has been tested

Run fuzzy tests.

Change checklist

• [x] I have followed the contribution guidelines for this project
• [x] I have performed a self-review of my own code
• [x] I have commented my code, particularly in hard-to-understand areas
• [x] I have made corresponding changes to the documentation
• [x] I have added tests that prove my fix is effective or that my feature works
• [x] New and existing unit tests pass locally with my changes