[SPARK-20769][DOC] Incorrect documentation for using Jupyter notebook

## What changes were proposed in this pull request?

SPARK-13973 incorrectly removed the required PYSPARK_DRIVER_PYTHON_OPTS=notebook from documentation to use pyspark with Jupyter notebook. This patch corrects the documentation error.

## How was this patch tested?

Tested invocation locally with
```bash
PYSPARK_DRIVER_PYTHON=jupyter PYSPARK_DRIVER_PYTHON_OPTS=notebook ./bin/pyspark
```

Author: Andrew Ray <ray.andrew@gmail.com>

Closes #18001 from aray/patch-1.