fix(types): revert "feat(typescript): allow using puppeteer without dom lib"

[johanbay]

Reverts #6998

We unfortunately have to revert this commit for two reasons:

1. The approach for generating types.d.ts implemented in the commit invalidates triple-slash compiler directives since it prepends a declaration before the types.d.ts generated by api-extractor.
   In particular, the directive /// <reference types="node" /> in the final types.d.ts is ignored by the typescript compiler making module resolution fail.
2. The commit makes Puppeteer types ship without DOM types per default. This is not ideal since Puppeteer (and usage of Puppeteer) relies heavily on interacting with DOM elements.