chore: update ci workflow

Description

Highly inspired from foundry's CI workflow.

Fix warnings shown in CI job output (e.g. https://github.com/0xPolygonZero/plonky2/actions/runs/7558066520).
Bump actions/checkout and actions/cache versions.
Remove actions-rs/toolchain and actions-rs/cargo because they are not maintained anymore since Oct 13, 2023.
To install the rust toolchain, use dtolnay/rust-toolchain instead of actions-rs/toolchain.
To set up rust cache, use Swatinem/rust-cache instead of actions/cache.
Instead of using actions-rs/cargo to run cargo clippy, cargo fmt or cargo test, simply run the raw commands instead.
Enable to cancel in-progress jobs.
Add job timeouts.