chore(deps): bump path-to-regexp and express in /docs/esm

Bumps [path-to-regexp](https://github.com/pillarjs/path-to-regexp) and [express](https://github.com/expressjs/express). These dependencies needed to be updated together.

Updates `path-to-regexp` from 0.1.7 to 0.1.10
- [Release notes](https://github.com/pillarjs/path-to-regexp/releases)
- [Changelog](https://github.com/pillarjs/path-to-regexp/blob/master/History.md)
- [Commits](pillarjs/path-to-regexp@v0.1.7...v0.1.10)

Updates `express` from 4.19.2 to 4.21.0
- [Release notes](https://github.com/expressjs/express/releases)
- [Changelog](https://github.com/expressjs/express/blob/4.21.0/History.md)
- [Commits](expressjs/express@4.19.2...4.21.0)

---
updated-dependencies:
- dependency-name: path-to-regexp
  dependency-type: indirect
- dependency-name: express
  dependency-type: indirect
...

Signed-off-by: dependabot[bot] <[email protected]>

Author: dependabot[bot]