lib,doc: revert format name to cjs over commonjs

PR-URL: https://github.com/nodejs/node/pull/18596


Reviewed-By: Michaël Zasso <targos@protonmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Tiancheng "Timothy" Gu <timothygu99@gmail.com>
Reviewed-By: Myles Borins <myles.borins@gmail.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>