Fix: Catch errors from JSON.parse

[glensc]

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Description

Keep the contract that the decode returns null on errors

➜ node
Welcome to Node.js v16.19.0.
Fix: Catch errors from JSON.parse
Type ".help" for more information.
> JSON.parse("xx")
Uncaught SyntaxError: Unexpected token x in JSON at position 0
>

Checklist

• [ ] This change adds test coverage for new/changed/fixed functionality
• [ ] I have added documentation for new/changed functionality in this PR or in auth0.com/docs
• [ ] All active GitHub checks for tests, formatting, and security are passing
• [ ] The correct base branch is being used, if not the default branch

[glensc]

Includes https://github.com/auth0/node-jws/pull/108, depends which one gets merged first.