Update deprecated actions and images in CI #2942

Job	Run time
build-and-test-cpp-x86_64 (ubuntu-20.04, mkl)	6m 19s
build-and-push-docker-images	3m 17s
build-and-test-cpp-x86_64 (ubuntu-20.04, dnnl)	8m 21s
build-and-test-cpp-aarch64 (openblas)	4m 22s
build-python-wheels (ubuntu-20.04, auto64)	35m 13s
build-python-wheels (windows-2019, auto64)	44m 58s
build-python-wheels (ubuntu-20.04, aarch64)	1h 33m 26s
check-python-style	8s
build-python-wheels (macos-13, arm64)	15m 11s
build-and-deploy-docs	31s
test-python-wheels (ubuntu-20.04)	4m 49s
test-python-wheels (windows-2019)	4m 35s
publish-python-wheels-on-pypi	0s
	3h 41m 10s

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