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Replace the dagre and dagre-d3 libraries with dagre-d3-es.
Both dagre and dagre-d3 are deprecated and unmaintained,
and haven't been updated for more than 3 years.
Since dagre-d3 still requires an old version of d3, this causes
a bunch of security warnings,
e.g. GHSA-36jr-mh4h-2g58
The [dagre-d3-es](https://github.com/tbo47/dagre-es) package is a fork
that contains support for `"d3": "^7.6.1"`. Also, it's ESM, so we will
hopefully get smaller bundle sizes too. The only issue is that this
fork isn't very well used (only has 3000 weekly downloads),
compared to `dagre-d3`'s 250,000 weekly downloads.
(although to be fair, a large proportion of dagre-d3's downloads
probably come from mermaid)
Since it's is a less popular package,
**I've pinned `dagre-d3-es` to `"7.0.2"` instead of `"^7.0.2"`**.
This does mean if there is a bug in `dagre-d3-es`, we will have to
manually bump it ourselves, but it also means we won't accidentally
be sending a buggy version of `dagre-d3-es` out to users in cases
something changes (it might be worth disabling renovate for this
if we're feeling paranoid!)
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