[ai-document-intelligence] Remove ESM depenendency (#28766)

### Packages impacted by this PR

- @azure-rest/ai-document-intelligence

### Issues associated with this PR

### Describe the problem that is addressed by this PR

Removes the ESM module and updates to ES2020

### What are the possible designs available to address the problem? If
there are more than one possible design, why was the one in this PR
chosen?


### Are there test cases added in this PR? _(If not, why?)_


### Provide a list of related PRs _(if any)_


### Command used to generate this PR:**_(Applicable only to SDK release
request PRs)_

### Checklists
- [ ] Added impacted package name to the issue description
- [ ] Does this PR needs any fixes in the SDK Generator?** _(If so,
create an Issue in the
[Autorest/typescript](https://github.com/Azure/autorest.typescript)
repository and link it here)_
- [ ] Added a changelog (if necessary)

sdk/documentintelligence/ai-document-intelligence-rest/package.json

@@ -86,7 +86,6 @@
     "@azure/identity": "^4.0.1",
     "@azure-tools/test-recorder": "^3.0.0",
     "mocha": "^10.0.0",
-    "esm": "^3.2.18",
     "@types/mocha": "^10.0.0",
     "cross-env": "^7.0.2",
     "@types/chai": "^4.2.8",

sdk/documentintelligence/ai-document-intelligence-rest/tsconfig.json

@@ -1,9 +1,12 @@
 {
   "extends": "../../../tsconfig.package",
   "compilerOptions": {
+    "target": "es2020",
     "outDir": "./dist-esm",
     "declarationDir": "./types",
-    "paths": { "@azure-rest/ai-document-intelligence": ["./src/index"] }
+    "paths": {
+      "@azure-rest/ai-document-intelligence": ["./src/index"]
+    }
   },
   "include": ["./src/**/*.ts", "./test/**/*.ts", "samples-dev/**/*.ts"]
 }