chore(deps): bump JWT deps

[hperl]

This PR bumps the JWT dependencies and migrates away from the legacy github.com/dgrijalva/jwt-go.

Related issue(s)

Checklist

• I have read the contributing guidelines.
• I have referenced an issue containing the design document if my change
  introduces a new feature.
• I am following the
  contributing code guidelines.
• I have read the security policy.
• I confirm that this pull request does not address a security
  vulnerability. If this pull request addresses a security vulnerability, I
  confirm that I got the approval (please contact
  security@ory.sh) from the maintainers to push
  the changes.
• I have added tests that prove my fix is effective or that my feature
  works.
• I have added or changed the documentation.

Further Comments

[codecov]

Codecov Report

Merging #1052 (33b4b47) into master (431f415) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##           master    #1052   +/-   ##
=======================================
  Coverage   77.74%   77.74%           
=======================================
  Files          83       83           
  Lines        3841     3841           
=======================================
  Hits         2986     2986           
  Misses        578      578           
  Partials      277      277           

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