### 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)

raise ParamValidationError("No value passed and Param has no default value")
        try:
            jsonschema.validate(final_val, self.schema, format_checker=FormatChecker())
        except ValidationError as err:
            if err.schema.get("format") == "date-time":
                rfc3339_value = self._warn_if_not_rfc3339_dt(final_val)
                if rfc3339_value:
                    self.value = rfc3339_value
                    return rfc3339_value
            if suppress_exception:
                return None
            raise ParamValidationError(err) from None
        self.value = final_val
        return final_val
    def dump(self) -> dict:
        """Dump the Param as a dictionary"""
        out_dict = {self.CLASS_IDENTIFIER: f"{self.__module__}.{self.__class__.__name__}"}
        out_dict.update(self.__dict__)
        return out_dict
    @property
    def has_value(self) -> bool:
        return self.value is not NOTSET
    def serialize(self) -> dict:
        return {"value": self.value, "description": self.description, "schema": self.schema}
    @staticmethod
    def deserialize(data: dict[str, Any], version: int) -> Param:
        if version > Param.__version__:
            raise TypeError("serialized version > class version")
        return Param(default=data["value"], description=data["description"], schema=data["schema"])
class ParamsDict(MutableMapping[str, Any]):