Upgrade cmake version to 3.24 (#13569)
### Description
Upgrade cmake version to 3.24 because I need to use a new feature that
is only provided in that version and later. Starting from cmake 3.24,
the
[FetchContent](https://cmake.org/cmake/help/latest/module/FetchContent.html#module:FetchContent)
module and the
[find_package()](https://cmake.org/cmake/help/latest/command/find_package.html#command:find_package)
command now support integration capabilities, which means calls to
"FetchContent" can be implicitly redirected to "find_package", and vice
versa. Users can use a cmake variable to control the behavior. So, we
don't need to provide such a build option. We can delete our
"onnxruntime_PREFER_SYSTEM_LIB" build option and let cmake handle it.
And it would be easier for who wants to use vcpkg.
### Motivation and Context
Provide a unified package management method, and get aligned with the
community. This change is split from #13523 for easier review.
