Use `CXX_VISIBILITY_PRESET` instead of `PIKA_WITH_HIDDEN_VISIBILITY`

[msimberg]

https://cmake.org/cmake/help/latest/prop_tgt/LANG_VISIBILITY_PRESET.html. Consider adding https://cmake.org/cmake/help/latest/prop_tgt/VISIBILITY_INLINES_HIDDEN.html#prop_tgt:VISIBILITY_INLINES_HIDDEN along with it (described here: https://gcc.gnu.org/wiki/Visibility).