### 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)

runs across execution_dates.
    :param executor_config: Additional task-level configuration parameters that are
        interpreted by a specific executor. Parameters are namespaced by the name of
        executor.
        **Example**: to run this task in a specific docker container through
        the KubernetesExecutor ::
            MyOperator(...,
                executor_config={
                    "KubernetesExecutor":
                        {"image": "myCustomDockerImage"}
                }
            )
    :param do_xcom_push: if True, an XCom is pushed containing the Operator's
        result
    :param task_group: The TaskGroup to which the task should belong. This is typically provided when not
        using a TaskGroup as a context manager.
    :param doc: Add documentation or notes to your Task objects that is visible in
        Task Instance details View in the Webserver
    :param doc_md: Add documentation (in Markdown format) or notes to your Task objects
        that is visible in Task Instance details View in the Webserver
    :param doc_rst: Add documentation (in RST format) or notes to your Task objects
        that is visible in Task Instance details View in the Webserver
    :param doc_json: Add documentation (in JSON format) or notes to your Task objects
        that is visible in Task Instance details View in the Webserver
    :param doc_yaml: Add documentation (in YAML format) or notes to your Task objects
        that is visible in Task Instance details View in the Webserver
    """
    
    template_fields: Sequence[str] = ()
    template_ext: Sequence[str] = ()