Automatic merge from submit-queue (batch tested with PRs 42802, 42927, 42669, 42988, 43012)

update to latest version of coreos/go-oidc

Includes updates that enable OIDC with OKTA as a IDP



**What this PR does / why we need it**:
Updates to the latest version of coreos/go-oidc

**Which issue this PR fixes** *(optional, in `fixes #<issue number>(, fixes #<issue_number>, ...)` format, will close that issue when PR gets merged)*: fixes # TBD

**Special notes for your reviewer**:
Updates coreos/go-oidc module to include fixes for https://github.com/coreos/go-oidc/issues/137 which prevent OKTA being used as an IDP
**Release note**:

```release-note
NONE
```

cc:/ @ericchiang