Considering how easy it is to generate a public/private key pair it's not that easy and not cheap to get an widely trusted document signing certificate. Especially one with LTV (longtime valid for verifying)
Is this just the market monopoly? If letsencrypt broke it for SSL, couldn't it be done for PDF signing also?
S/MIME being made for email, you can use port 80 ownership, or dns record ownership to verify control. And documents can be signed as originating from bob@acme.com.
I have implemented s/mime to sign documents automatically between companies. It is the best option that works by default. Powershell and openssl support it, as does outlook for email.
My guess is they don't see enough people asking for this, because those who need what you are asking don't mind paying cheap CA fees like $15/year or so.