doc: make Deprecation cycle explanation more brief

The Deprecation cycle explanation in the COLLABORATOR_GUIDE.md file is
now more concise.

PR-URL: https://github.com/nodejs/node/pull/21303


Reviewed-By: Trivikram Kamat <trivikr.dev@gmail.com>
Reviewed-By: Sakthipriyan Vairamani <thechargingvolcano@gmail.com>
Reviewed-By: Tobias Nießen <tniessen@tnie.de>
Reviewed-By: Michaël Zasso <targos@protonmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Minwoo Jung <minwoo@nodesource.com>
Reviewed-By: Anatoli Papirovski <apapirovski@mac.com>
Reviewed-By: Luigi Pinca <luigipinca@gmail.com>
Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: James M Snell <jasnell@gmail.com>