Maven jib:build fails if <outputPaths> contain non-existing directories

**Environment**:

- *Jib version:* 3.3.0
- *Build tool:* Maven
- *OS:* Linux

**Description of the issue**:
jib:build fails if you specify `` which contain non-existing directories.
For example the POM contains the following jib-maven-pluging configuration:
```
...

com.google.cloud.tools
jib-maven-plugin
${jib-maven-plugin.version}


gcr.io/REPLACE-WITH-YOUR-GCP-PROJECT/image-built-with-jib


${project.build.directory}/target/nonExistingDirectory/image.digest
${project.build.directory}/target/nonExistingDirectory/image.id
${project.build.directory}/target/nonExistingDirectory/image.json


...
```
It fails with
`[ERROR] Failed to execute goal com.google.cloud.tools:jib-maven-plugin:3.3.0:build (default-cli) on project helloworld: /workspace/jib/examples/helloworld/target/target/nonExistingDirectory/image.digest`

**Expected behavior**:
jib:build creates directories specified in `outputPaths` and completes successful.

**Steps to reproduce**:

1. use https://github.com/GoogleContainerTools/jib/tree/master/examples/helloworld
2. Add `` config from above and replace `` accordingly
3. Run `mvn compile jib:build`

**Log output**:
```
[INFO] Scanning for projects...
[INFO]
[INFO] -------------------------< example:helloworld >-------------------------
[INFO] Building helloworld 1
[INFO] --------------------------------[ jar ]---------------------------------
[INFO]
[INFO] --- maven-resources-plugin:2.6:resources (default-resources) @ helloworld ---
[INFO] Using 'UTF-8' encoding to copy filtered resources.
[INFO] Copying 1 resource
[INFO]
[INFO] --- maven-compiler-plugin:3.8.0:compile (default-compile) @ helloworld ---
[INFO] Nothing to compile - all classes are up to date
[INFO]
[INFO] --- jib-maven-plugin:3.3.0:build (default-cli) @ helloworld ---
[INFO]
[INFO] Containerizing application to registry.xyz...
[WARNING] Base image 'eclipse-temurin:8-jre' does not use a specific image digest - build may not be reproducible
[INFO] Using credentials from for registry.xyz
[INFO] The base image requires auth. Trying again for eclipse-temurin:8-jre...
[INFO] Using base image with digest: sha256:a3327e73ad173120e7a7cb21de45f4d50545efecc9969291c69a8095fa9d05c0
[INFO]
[INFO] Container entrypoint set to [java, -cp, /app/resources:/app/classes:/app/libs/*, example.HelloWorld]
[INFO]
[INFO] Built and pushed image as registry.xyz
[INFO] Executing tasks:
[INFO] [==============================] 100.0% complete
[INFO]
[INFO] ------------------------------------------------------------------------
[INFO] BUILD FAILURE
[INFO] ------------------------------------------------------------------------
[INFO] Total time: 24.566 s
[INFO] Finished at: 2022-09-22T14:05:45Z
[INFO] ------------------------------------------------------------------------
[ERROR] Failed to execute goal com.google.cloud.tools:jib-maven-plugin:3.3.0:build (default-cli) on project helloworld: /workspace/jib/examples/helloworld/target/target/nonExistingDirectory/image.digest -> [Help 1]
[ERROR]
[ERROR] To see the full stack trace of the errors, re-run Maven with the -e switch.
[ERROR] Re-run Maven using the -X switch to enable full debug logging.
[ERROR]
[ERROR] For more information about the errors and possible solutions, please read the following articles:
[ERROR] [Help 1] http://cwiki.apache.org/confluence/display/MAVEN/MojoExecutionException
```

**Additional information**:
Running `mvn -e compile jib:build` traces down the exception to `JibBuildRunner.java:237`. Here a `Files.write(imageDigestOutputPath, imageDigest.getBytes(StandardCharsets.UTF_8));` is executed, which fails if a directory in the `imageDigestOutputPath` does not exist.
```
...
Caused by: java.nio.file.NoSuchFileException: /workspace/jib/examples/helloworld/target/target/nonExistingDirectory/image.digest
at sun.nio.fs.UnixException.translateToIOException (UnixException.java:92)
at sun.nio.fs.UnixException.rethrowAsIOException (UnixException.java:111)
at sun.nio.fs.UnixException.rethrowAsIOException (UnixException.java:116)
at sun.nio.fs.UnixFileSystemProvider.newByteChannel (UnixFileSystemProvider.java:219)
at java.nio.file.spi.FileSystemProvider.newOutputStream (FileSystemProvider.java:478)
at java.nio.file.Files.newOutputStream (Files.java:220)
at java.nio.file.Files.write (Files.java:3425)
at com.google.cloud.tools.jib.plugins.common.JibBuildRunner.runBuild (JibBuildRunner.java:237)
at com.google.cloud.tools.jib.maven.BuildImageMojo.execute (BuildImageMojo.java:117)
at org.apache.maven.plugin.DefaultBuildPluginManager.executeMojo (DefaultBuildPluginManager.java:137)
at org.apache.maven.lifecycle.internal.MojoExecutor.doExecute2 (MojoExecutor.java:370)
at org.apache.maven.lifecycle.internal.MojoExecutor.doExecute (MojoExecutor.java:351)
at org.apache.maven.lifecycle.internal.MojoExecutor.execute (MojoExecutor.java:215)
at org.apache.maven.lifecycle.internal.MojoExecutor.execute (MojoExecutor.java:171)
at org.apache.maven.lifecycle.internal.MojoExecutor.execute (MojoExecutor.java:163)
at org.apache.maven.lifecycle.internal.LifecycleModuleBuilder.buildProject (LifecycleModuleBuilder.java:117)
at org.apache.maven.lifecycle.internal.LifecycleModuleBuilder.buildProject (LifecycleModuleBuilder.java:81)
at org.apache.maven.lifecycle.internal.builder.singlethreaded.SingleThreadedBuilder.build (SingleThreadedBuilder.java:56)
at org.apache.maven.lifecycle.internal.LifecycleStarter.execute (LifecycleStarter.java:128)
at org.apache.maven.DefaultMaven.doExecute (DefaultMaven.java:294)
at org.apache.maven.DefaultMaven.doExecute (DefaultMaven.java:192)
at org.apache.maven.DefaultMaven.execute (DefaultMaven.java:105)
at org.apache.maven.cli.MavenCli.execute (MavenCli.java:960)
at org.apache.maven.cli.MavenCli.doMain (MavenCli.java:293)
at org.apache.maven.cli.MavenCli.main (MavenCli.java:196)
at jdk.internal.reflect.NativeMethodAccessorImpl.invoke0 (Native Method)
at jdk.internal.reflect.NativeMethodAccessorImpl.invoke (NativeMethodAccessorImpl.java:62)
at jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke (DelegatingMethodAccessorImpl.java:43)
at java.lang.reflect.Method.invoke (Method.java:566)
at org.codehaus.plexus.classworlds.launcher.Launcher.launchEnhanced (Launcher.java:282)
at org.codehaus.plexus.classworlds.launcher.Launcher.launch (Launcher.java:225)
at org.codehaus.plexus.classworlds.launcher.Launcher.mainWithExitCode (Launcher.java:406)
at org.codehaus.plexus.classworlds.launcher.Launcher.main (Launcher.java:347)
```