build: remove es module support for simplification

[tplooker]

Description

Supporting both an ES module version and CJS version of this library was causing complications upstream, so the process has been simplified to only output only a CJS that is compatible with both NodeJS and browser

• [x] Tests for the changes have been added (for bug fixes / features)
• [x] The commit message(s) follow conventional commits
• [x] Documentation has been added / updated (for bug fixes / features)
• [x] Changes follow the contributing document.

Motivation and Context

See above

Does this PR introduce a breaking change?

• [ ] Yes
• [x] No

Which merge strategy will you use?

• [x] Squash
• [ ] Rebase (REVIEW COMMITS)