Update GitHub Actions to use Go 1.24

- Update go.mod to Go 1.24.0 with toolchain go1.24.1
- Update GitHub Actions workflow to use Go 1.24
- Update action versions to v4 (checkout and setup-go)
- Add GOTOOLCHAIN=local to prevent unexpected toolchain downloads
- This matches the local development environment

Release v0.4.0 - Add jwx v3 support

New Features:
- Add NewJWSSignerV3() and NewJWSVerifierV3() functions for jwx v3 support
- Use recommended non-deprecated jwx v3 APIs (SignerFor, VerifierFor)
- Full backward compatibility - existing v2 functions continue to work unchanged
- Cross-version compatibility verified (v2 and v3 signatures are interoperable)

Technical Details:
- Handles parameter order differences between jwx v2 and v3 interfaces
- Comprehensive test coverage including cross-compatibility tests
- Internal documentation for migration planning
- No breaking changes

Dependencies:
- Added github.com/lestrrat-go/jwx/v3 v3.0.12
- Maintains github.com/lestrrat-go/jwx/v2 v2.1.2 for backward compatibility

Fixed a panic in one of the tests

Recent JWX possibly broken, quote go version

Documentation fixes

Merge pull request #9 from yaronf/remove-keyid

Breaking change: keyid is optional, now in SignConfig/VerifyConfig

Normalize an empty path

Merge pull request #7 from yaronf/dependabot/go_modules/github.com/le…

…strrat-go/jwx/v2-2.0.21

Bump github.com/lestrrat-go/jwx/v2 from 2.0.19 to 2.0.21

RFC 9421

Add response signature per the new Sec. 2.4