Fix documentation build

* Doxygen needs `RECURSIVE = YES` in order to parse the `detail` subdir.

* The `-W` warnings-as-errors option for sphinx doesn't work with the
  makefile build. Switched to calling sphinx directly.

* Fix "citation [cppimport] is not referenced" warning.
diff --git a/docs/Doxyfile b/docs/Doxyfile
index 4dc8bf0..1b9d129 100644
--- a/docs/Doxyfile
+++ b/docs/Doxyfile
@@ -1,5 +1,6 @@
 PROJECT_NAME           = pybind11
 INPUT                  = ../include/pybind11/
+RECURSIVE              = YES
 
 GENERATE_HTML          = NO
 GENERATE_LATEX         = NO