Update deprecated actions and images in CI #2945

Job	Run time
build-and-test-cpp-x86_64 (ubuntu-20.04, mkl)	6m 15s
build-and-push-docker-images	2m 53s
build-and-test-cpp-x86_64 (ubuntu-20.04, dnnl)	5m 31s
build-and-test-cpp-aarch64 (openblas)	4m 16s
build-python-wheels (ubuntu-20.04, auto64)	36m 23s
check-python-style	8s
build-python-wheels (windows-2019, auto64)	46m 22s
build-python-wheels (ubuntu-20.04, aarch64)	1h 32m 46s
build-python-wheels (macos-13, arm64)	10m 18s
build-and-deploy-docs	58s
test-python-wheels (ubuntu-20.04)	7m 43s
test-python-wheels (windows-2019)	4m 6s
publish-python-wheels-on-pypi	0s
	3h 37m 39s

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