feat: add default signature algorithm

[nannany]

Changed the toJoseSignatureAlgorithms function to support not only RS256 but also ES256 and PS256 when an argument of zero length is given.
See issue #605 for the reason for selecting ES256 and PS256.

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 62.04%. Comparing base (0992c5f) to head (46ecf9a).
Report is 61 commits behind head on main.

❗ Current head 46ecf9a differs from pull request most recent head 911d117

Please upload reports for the commit 911d117 to get more accurate results.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #606      +/-   ##
==========================================
+ Coverage   60.06%   62.04%   +1.98%     
==========================================
  Files          80       81       +1     
  Lines        6998     6192     -806     
==========================================
- Hits         4203     3842     -361     
+ Misses       2498     2041     -457     
- Partials      297      309      +12     

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[github-actions]

🎉 This PR is included in version 3.24.0 🎉

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