Update deprecated actions and images in CI #2947

Job	Run time
build-and-test-cpp-x86_64 (ubuntu-20.04, mkl)	6m 11s
build-and-push-docker-images	30m 48s
build-and-test-cpp-aarch64 (openblas)	4m 42s
build-and-test-cpp-x86_64 (ubuntu-20.04, dnnl)	5m 54s
build-python-wheels (ubuntu-20.04, auto64)	3m 58s
check-python-style	8s
build-python-wheels (windows-2019, auto64)	3m 58s
build-python-wheels (ubuntu-20.04, aarch64)	3m 58s
build-python-wheels (macos-13, arm64)	3m 40s
build-and-deploy-docs	0s
test-python-wheels	0s
publish-python-wheels-on-pypi	0s
	1h 3m 17s

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