Update Github Actions workflow to the latest from API

This copies the Github Actions workflow from the Pelias API project.

It brings in a few notable changes:

Run all tests against Node.js 12, 14, and 16
Remove MacOS build jobs (they're 10x the cost, which could hurt anyone running these on private forks)
Update jobs to run on Ubuntu 20 (Ubuntu 16 is deprecated: https://github.blog/changelog/2021-04-29-github-actions-ubuntu-16-04-lts-virtual-environment-will-be-removed-on-september-20-2021/)
Run docker build after any NPM publish, so that versioned docker images can be built
Remove any CircleCI config that exists (we can use Github Actions to build docker images just fine)
Remove any lingering references to TravisCI

pelias / openaddresses