tools: update doctool dependencies, migrate to ESM

- Migrated to ESM because some dependencies now require it.
- Did not update `highlight.js` to v11 because it has many breaking
  changes.
- Used non-deprecated `highlight.js` API.

Refs: https://github.com/highlightjs/highlight.js/issues/2277
Fixes: https://github.com/nodejs/node/issues/38938


Co-authored-by: Antoine du Hamel <duhamelantoine1995@gmail.com>

PR-URL: https://github.com/nodejs/node/pull/38966


Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Rich Trott <rtrott@gmail.com>
Reviewed-By: Richard Lau <rlau@redhat.com>
Reviewed-By: Anto Aravinth <anto.aravinth.cse@gmail.com>
Reviewed-By: Antoine du Hamel <duhamelantoine1995@gmail.com>