Allowing moderators to create (and thus to edit) categories is not at all the same as the OP “Allow non-admin to edit category logo, details”.
Even if it was an additional option to “Allow moderators to edit categories” that wouldn’t cut the mustard as you would have to make someone a global moderator to allow them to edit one category.
What is needed is a function analogous to the owner of a group. Owner of a category who can moderate posts and edit category details.
I applaud the presumption that you can trust users, but on the other hand it is always a security risk to give a user more permissions than he needs.