util: expose stripVTControlCharacters()

This commit exposes the existing stripVTControlCharacters()
method with docs and some additional input validation.

PR-URL: https://github.com/nodejs/node/pull/40214


Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: Minwoo Jung <nodecorelab@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>