refactor: building of docker images is more flexible

[kevinvalk]

This implements #146.

During the refactor I also modernized the build pipeline and Dockerfile with caching, steps, etc. I also use a trick to easily merge base images like node and python into a single image without using something like nikolaik/python-nodejs. However, I did use debian for this as it is more broadly supported on docker images.

I took the liberty to remove the .autoindex suffix from the Dockerfile. However, I did not remove this from the generated docker tags to avoid any breaking changes. That said, it fully overlaps with latest so it could be removed.

Finally, I did the build step using a matrix so in theory different version could be build. Maybe this is early-optimization but o well.

Before this is merged, feel free to use ghcr.io/codean-io/scip-python as your SCIP image if you need the ARM support.