Update `github.com/pulumi/pulumi/{pkg,sdk}/v3` to v3.159.0

[iwahbe]

This also updated github.com/pulumi/pulumi-yaml and github.com/pulumi/pulumi-java/pkg.

The change to tools/resourcedocsgen/pkg/output.go is required by https://github.com/pulumi/pulumi/pull/17898. It does not change behavior, since tools.EnsureDir just wrapped os.MkdirAll:

func EnsureDir(dir string) error {
	return os.MkdirAll(dir, 0o700)
}

This PR takes the upgrade process as far as it can go with only obviously positive changes. Each commit in the PR is an upgrade with either no code change or with obviously positive code changes. Each commit leaves the repo in a valid state.

Blocked on https://github.com/pulumi/pulumi-java/issues/1772.

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[iwahbe]

Currently pinning to https://github.com/pulumi/pulumi/pull/19488, since otherwise tests panic.

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