build: follow Jest node engines (#2478)

BREAKING CHANGE
`ts-jest` now uses the same node engines like Jest. This change can cause installation issue for users who install `ts-jest` with unsupported node versions. It is recommended to use Jest supported node engines, see https://github.com/facebook/jest/blob/master/package.json#L146

package.json

@@ -138,6 +138,6 @@
     ]
   },
   "engines": {
-    "node": ">= 10"
+    "node": "^10.13.0 || ^12.13.0 || ^14.15.0 || >=15.0.0"
   }
 }