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GH-40734: [Packaging][Debian] Drop support for Debian bullseye (#41394)

### Rationale for this change

Debian GNU/Linux bullseye will reach EOL on 2024-07: https://wiki.debian.org/DebianReleases

We can drop support for it after we release 16.0.0 because 17.0.0 will be released after 2024-07.

### What changes are included in this PR?

Remove Debian bullseye support

### Are these changes tested?

Yes on CI.

### Are there any user-facing changes?

Yes, no support for Debian bullseye but no breaking changes on code.
* GitHub Issue: #40734

Authored-by: Raúl Cumplido <raulcumplido@gmail.com>
Signed-off-by: Sutou Kouhei <kou@clear-code.com>