update deprecated github workflow versions

.github/workflows/docs.yml

@@ -38,10 +38,10 @@ jobs:
         uses: actions/configure-pages@v2
 
       - name: Upload artifact
-        uses: actions/upload-pages-artifact@v1
+        uses: actions/upload-pages-artifact@v3
         with:
           path: 'output'
 
       - name: Deploy to GitHub Pages
         id: deployment
-        uses: actions/deploy-pages@v1
+        uses: actions/deploy-pages@v4