Update BEAM SDK to work with Java 11 (#762)

* Update BEAM SDK to work with Java 11

Upgraded BEAM dependencies to 2.23.0.

Updated Spec11 and invoice pipelines:
- Added the required region parameter.
- Removed the workaround code for staging.

Verified that staging is successful in alpha:
./nom_build :core:registryTool --args='-e alpha --sql_access_info "gs://..." deploy_spec11_pipeline --project domain-registry-alpha'

and

./nom_build :core:registryTool --args='-e alpha --sql_access_info "gs://..." deploy_invoicing_pipeline'

core/src/test/java/google/registry/beam/invoicing/InvoicingPipelineTest.java

@@ -69,6 +69,7 @@ class InvoicingPipelineTest {
     invoicingPipeline =
         new InvoicingPipeline(
             "test-project",
+            "region",
             beamTempFolder,
             beamTempFolder + "/templates/invoicing",
             beamTempFolder + "/staging",

core/src/test/java/google/registry/beam/spec11/Spec11PipelineTest.java

@@ -124,6 +124,7 @@ class Spec11PipelineTest {
     spec11Pipeline =
         new Spec11Pipeline(
             "test-project",
+            "region",
             beamTempFolder + "/staging",
             beamTempFolder + "/templates/invoicing",
             tmpDir.toAbsolutePath().toString(),