Upgrade project dependencies to latest

- Upgrade Go used in CI from 1.19.0 to 1.19.1
- Upgrade all go.mod direct dependencies to latest available versions
- Upgrade distroless base image to latest available version
- Upgrade Go fips compiler to to latest available version

Note that upgrading the go-oidc library changed an error message
returned by that library, so update the places where tests were
expecting that error message.

pkg/oidcclient/login_test.go

@@ -1791,7 +1791,7 @@ func TestLogin(t *testing.T) { //nolint:gocyclo
 			wantLogs: []string{"\"level\"=4 \"msg\"=\"Pinniped: Found unexpired cached token.\"",
 				"\"level\"=4 \"msg\"=\"Pinniped: Performing RFC8693 token exchange\"  \"requestedAudience\"=\"test-audience-produce-invalid-jwt\"",
 				"\"level\"=4 \"msg\"=\"Pinniped: Performing OIDC discovery\"  \"issuer\"=\"" + successServer.URL + "\""},
-			wantErr: `failed to exchange token: received invalid JWT: oidc: malformed jwt: square/go-jose: compact JWS format must have three parts`,
+			wantErr: `failed to exchange token: received invalid JWT: oidc: malformed jwt: oidc: malformed jwt, expected 3 parts got 1`,
 		},
 		{
 			name:     "with requested audience, session cache hit with valid token, and token exchange request succeeds",