Fix publish workflow

[tautschnig]

For an unknown reason mermaid-filter (or, really, one of its
dependencies) no longer work properly on Ubuntu 22.04. Using 24.04
addresses the problem. While at it, we also no longer need to overwrite
the puppeteer dependency as mermaid-filter has updated its mermaid-cli
dependency. No new release has been published just yet, so keep using
the git clone approach from 71d3b4e rather than installing a
release.

This entails updating the doxygen version we use by default, so please review commit-by-commit.

• Each commit message has a non-empty body, explaining why the change was made.
• n/a Methods or procedures I have added are documented, following the guidelines provided in CODING_STANDARD.md.
• n/a The feature or user visible behaviour I have added or modified has been documented in the User Guide in doc/cprover-manual/
• Regression or unit tests are included, or existing tests cover the modified code (in this case I have detailed which ones those are in the commit message).
• n/a My commit message includes data points confirming performance improvements (if claimed).
• My PR is restricted to a single feature or bugfix.
• n/a White-space or formatting changes outside the feature-related changed lines are in commits of their own.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 78.95%. Comparing base (36b2335) to head (07cf0bb).
Report is 5 commits behind head on develop.

Additional details and impacted files

@@             Coverage Diff             @@
##           develop    #8564      +/-   ##
===========================================
+ Coverage    78.79%   78.95%   +0.15%     
===========================================
  Files         1730     1730              
  Lines       199160   198759     -401     
  Branches     18320    18314       -6     
===========================================
  Hits        156938   156938              
+ Misses       42222    41821     -401     

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