Update actions using deprecated Node.js

[woodsp-ibm]

Summary

Currently CI - if you look in the Summary - is emitting a bunch of deprecation warnings around actions and Node.js

Node.js 16 actions are deprecated. Please update the following actions to use Node.js 20: actions/checkout@v3, actions/setup-python@v4, actions/cache@v3, actions/upload-artifact@v3. For more information see: https://github.blog/changelog/2023-09-22-github-actions-transitioning-from-node-16-to-node-20/.

This updates the actions to the latest versions.

Details and comments

I will mark this as stable backport - I think the workflows should backport ok though it has been a while since the stable release but thing should be updated there for any bug fix releases, and more so at present doc updates.

[woodsp-ibm]

This needs #138 merging to sort out the copyright date failure.

[coveralls]

Pull Request Test Coverage Report for Build 7667830988

• 0 of 0 changed or added relevant lines in 0 files are covered.
• No unchanged relevant lines lost coverage.
• Overall coverage remained the same at 90.66%

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Totals
Change from base Build 7667826793:	0.0%
Covered Lines:	6484
Relevant Lines:	7152

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💛 - Coveralls