Update version of GitHub actions

[DavidWhitlock]

I noticed that the GitHub continuous integration builds get this warning:

Node.js 16 actions are deprecated. Please update the following actions to use Node.js 20: actions/checkout@v3, actions/setup-java@v3. For more information see: https://github.blog/changelog/2023-09-22-github-actions-transitioning-from-node-16-to-node-20/.

Let's update the GitHub actions.