Refactor Error Handling for CUDA (#6575)

* Refactor Error Handling for CUDA

Add guidance for setting CUDA_DOCKER_ARCH to match GPU compute capability for CUDA versions < 11.7. Include link to NVIDIA's CUDA GPUs documentation for compute capability reference.

* Update Makefile

Improved wording

Co-authored-by: Johannes Gäßler <johannesg@5d6.de>

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Co-authored-by: Johannes Gäßler <johannesg@5d6.de>