Update GitHub Actions workflows

[mishina2228]

This PR updates GitHub Actions workflows. Adding Ruby 3.1 to the CI matrix is included. Here are the details:

• Update actions/checkout from v2 to v3
• Use ruby/setup-ruby instead of deprecated actions/setup-ruby
  • Enclose all ruby_versions with quotes to avoid the following issue: https://github.com/ruby/setup-ruby/issues/252
  • Add Ruby 3.1 to the CI matrix
  • Enable bundler-cache to cache gem dependencies
• Add GitHub token permissions for workflow
  • GitHub asks developers to define workflow permissions, see below for securing GitHub workflows against supply-chain attacks.
  • https://github.blog/changelog/2021-04-20-github-actions-control-permissions-for-github_token/
  • https://docs.github.com/en/actions/security-guides/automatic-token-authentication#modifying-the-permissions-for-the-github_token

[mishina2228]

I have updated this PR, adding GitHub token permissions.

[mishina2228]

I've added Ruby 3.2 to the CI matrix.