### Apache Airflow version

2.5.1

### What happened

Context: I am attempting to use [TypedDict](https://docs.python.org/3/library/typing.html#typing.TypedDict) objects to maintain the keys used in DAG params in a single place, and check for key names across multiple DAGs that use the params.
This raises an error with `mypy` as `params` expects an `Optional[Dict]`. Due to the invariance of `Dict`, this does not accept `TypedDict` objects.

What happened: I passed a `TypedDict` to the `params` arg of `DAG` and got a TypeError.

### What you think should happen instead

`TypedDict` objects should be accepted by `DAG`, which should accept `Optional[Mapping[str, Any]]`. 

Unless I'm mistaken, `params` are converted to a `ParamsDict` class and therefore the appropriate type hint is a generic `Mapping` type.

### How to reproduce

Steps to reproduce

```Python
from typing import TypedDict

from airflow import DAG
from airflow.models import Param

class ParamsTypedDict(TypedDict):
    str_param: Param

params: ParamsTypedDict = {
    "str_param": Param("", type="str")
}

with DAG(
    dag_id="mypy-error-dag",
    # The line below raises a mypy error
    # Argument "params" to "DAG" has incompatible type "ParamsTypedDict"; expected "Optional[Dict[Any, Any]]"  [arg-type]
    params=params,  
) as dag:
    pass
```

### Operating System

Amazon Linux

### Versions of Apache Airflow Providers

_No response_

### Deployment

Docker-Compose

### Deployment details

_No response_

### Anything else

_No response_

### Are you willing to submit PR?

- [X] Yes I am willing to submit a PR!

### Code of Conduct

- [X] I agree to follow this project's [Code of Conduct](https://github.com/apache/airflow/blob/main/CODE_OF_CONDUCT.md)

TaskNotFound,
)
from airflow.models.abstractoperator import AbstractOperator
from airflow.models.base import Base, StringID
from airflow.models.dagcode import DagCode
from airflow.models.dagpickle import DagPickle
from airflow.models.dagrun import DagRun
from airflow.models.operator import Operator
from airflow.models.param import DagParam, ParamsDict
from airflow.models.taskinstance import Context, TaskInstance, TaskInstanceKey, clear_task_instances
from airflow.secrets.local_filesystem import LocalFilesystemBackend
from airflow.security import permissions
from airflow.stats import Stats
from airflow.timetables.base import DagRunInfo, DataInterval, TimeRestriction, Timetable
from airflow.timetables.interval import CronDataIntervalTimetable, DeltaDataIntervalTimetable
from airflow.timetables.simple import DatasetTriggeredTimetable, NullTimetable, OnceTimetable
from airflow.typing_compat import Literal
from airflow.utils import timezone
from airflow.utils.dag_cycle_tester import check_cycle
from airflow.utils.dates import cron_presets, date_range as utils_date_range
from airflow.utils.decorators import fixup_decorator_warning_stack
from airflow.utils.file import correct_maybe_zipped
from airflow.utils.helpers import at_most_one, exactly_one, validate_key
from airflow.utils.log.logging_mixin import LoggingMixin
from airflow.utils.session import NEW_SESSION, provide_session
from airflow.utils.sqlalchemy import Interval, UtcDateTime, skip_locked, tuple_in_condition, with_row_locks
from airflow.utils.state import DagRunState, State, TaskInstanceState
from airflow.utils.types import NOTSET, ArgNotSet, DagRunType, EdgeInfoType
if TYPE_CHECKING:
    from types import ModuleType