feat: provide cjs and esm builds

[felipebergamin]

Description

• Changes library build process to include commonjs and esmodules builds under build/ directory.
• Types are not dependent of the module system used, so they are generated only once under build/types.
• Add exports entry to package.json pointing to the correct entry file depending on which module system is being used
• Change all relative imports to include .js file extension, as required for esmodules
• Changed build script to build both distributions in parallel
• A package.json with "type": "commonjs" is required for commonjs distribution, so a script is invoked to create this file under build/cjs to make it work for cjs projects.

Related Issues

Progress

Pull request checklist

• Tests: This PR includes tests for covering the features or bug fixes (if applicable).
• Docs: This PR updates/creates the necessary documentation.
• CI: Make sure your Pull Request passes all CI checks. If not, clarify the motif behind that and the action plan to solve it (may reference a ticket)

How to test it

Visual reference

The base branch was changed.