[Task] Investigate ESM as output type for our Wasm module

## Description
Utilize wasm-pack to output a ESM instead of CommonJS.

## Motivation
ESM is by now the standard for browser JS and modern nodejs. While CommonJS works fine still (especially with bundlers that can convert module types), moving forward it is preferred to output the more widely adopted format.

## Change checklist
Add an `x` to the boxes that are relevant to your changes, and delete any items that are not.

- [ ] The feature or fix is implemented in Rust and across all bindings whereas possible.
- [ ] The feature or fix has sufficient testing coverage
- [ ] All tests and examples build and run locally as expected
- [ ] Every piece of code has been document according to the documentation guidelines.
- [ ] If conceptual documentation (mdbook) and examples highlighting the feature exist, they are properly updated.
- [ ] If the feature is not currently documented, a documentation task Issue has been opened to address this.