GH-4781 update github actions workflow to use java 21

[hmottestad]

GitHub issue resolved: #4781

Briefly describe the changes proposed in this PR:

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PR Author Checklist (see the contributor guidelines for more details):

• my pull request is self-contained
• I've added tests for the changes I made
• I've applied code formatting (you can use mvn process-resources to format from the command line)
• I've squashed my commits where necessary
• every commit message starts with the issue number (GH-xxxx) followed by a meaningful description of the change