chore: merge master into 6.x

[cjbarth]

Merges master into 6.x ahead of 6.4.0.

Merge with "Create a merge commit", not squash, so 6.x records master as a parent.

• feat: add computeSignatureAsync() and checkSignatureAsync(), fix asynchronous verification through a callback, and deprecate the callback form #657: feat: add computeSignatureAsync() and checkSignatureAsync(), fix asynchronous verification through a callback, and deprecate the callback form
• chore: deprecate signing and verifying a document that has a DOCTYPE #661: chore: deprecate signing and verifying a document that has a DOCTYPE
• chore: warn about input that 7.0 rejects #660: chore: warn about input that 7.0 rejects
• chore: deprecate renderNs() and processInner() ahead of 7.0 #656: chore: deprecate renderNs() and processInner() ahead of 7.0
• chore: deprecate enveloped-signature after a canonicalization #649: chore: deprecate enveloped-signature after a canonicalization
• feat: check private-key data against its label in toPem() and pemToDer() #658: feat: check private-key data against its label in toPem() and pemToDer()
• chore: put the lockfile back in sync for npm 8 #659: chore: put the lockfile back in sync for npm 8
• chore: group tests and deprecations in the changelog #651: chore: group tests and deprecations in the changelog

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