build: use tsx instead of ts-node-esm

`ts-node-esm` v10.9.1 is not compatible with Node.JS v18.19.0.

(cherry picked from commit 4a7e4a3bcb)

.vscode/launch.json

@@ -18,7 +18,8 @@
       "type": "node",
       "request": "launch",
       "args": ["scripts/docs.cli.mts"],
-      "runtimeArgs": ["--loader", "ts-node/esm"],
+      // we'll need to change this to --import in Node.JS v20.6.0 and up
+      "runtimeArgs": ["--loader", "tsx/esm"],
       "cwd": "${workspaceRoot}/packages/mermaid",
       "skipFiles": ["<node_internals>/**", "**/node_modules/**"],
       "smartStep": true,