[jwt-verifier] feat: Add verifyIdToken()

[denysoblohin-okta]

PR Checklist

Please check if your PR fulfills the following requirements:

• [x] The commit message follows our guidelines
• [x] Tests for the changes have been added (for bug fixes / features)
• [x] Docs have been added / updated (for bug fixes / features)

PR Type

What kind of change does this PR introduce?

• [ ] Bugfix
• [x] Feature
• [ ] Code style update (formatting, local variables)
• [ ] Refactoring (no functional changes, no api changes)
• [ ] Adding Tests
• [ ] Build related changes
• [ ] CI related changes
• [ ] Documentation changes
• [ ] Other... Please describe:

What is the current behavior?

Only access tokens can be validated.

Issue Number: N/A

What is the new behavior?

ID tokens can be validated.

Does this PR introduce a breaking change?

• [x] Yes
• [ ] No

Verifier will throw the error "No KID specified" if no KID is present in the JWT header.

Other information

Validation spec: https://github.com/okta/oss-technical-designs/blob/master/technical_designs/jwt-validation-libraries.md#id-token-verification Internal ref: OKTA-234446

Reviewers

[aarongranick-okta]

@denysoblohin-okta do you think any of the changes here are "breaking". Should we bump the version to 2.0.0 ?

[denysoblohin-okta]

@denysoblohin-okta do you think any of the changes here are "breaking". Should we bump the version to 2.0.0 ?

@aarongranick-okta I've bumped to 2.0.0 and added "Verifier will throw error "No KID specified" if no KID is present in the JWT header" in changelog