[w3c/manifest] Minor editorial cleanup / refactor of Manifest processing steps (PR #1066)

This change (choose at least one, delete ones that don't apply):

* Makes editorial changes (changes informative sections, or changes normative sections without changing behavior)

Commit message:

Minor editorial cleanup / refactor of Manifest processing steps.

- Fixed call to "process the id member" (removed the document URL argument which is not actually accepted by that algorithm).
- Removed unnecessarily complex for loops over ~2 members when it's more readable to just have a separate step for each member.
- Use Respec-style syntax instead of HTML.
- Moved default values into individual processing steps. This keeps the relevant info about the default values of members closely related to the other relevant material about that member. It's also consistent with how the rest of the members (e.g. scope) treat default values. And prevents possible errors where the incorrect default value is used by an intermediate step in between assigning the default and assigning the actual value.

Pre-work for #668.

Person merging, please make sure that commits are squashed with one of the following as a commit message prefix:

* editorial:
You can view, comment on, or merge this pull request online at:

  https://github.com/w3c/manifest/pull/1066

-- Commit Summary --

  * Processing a manifest: Process the id member does not take a document URL.
  * Processing a manifest: Remove unnecessarily complex for loops.
  * Processing a manifest: Moved defaults into individual processing steps.

-- File Changes --

    M index.html (38)

-- Patch Links --

https://github.com/w3c/manifest/pull/1066.patch
https://github.com/w3c/manifest/pull/1066.diff

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