Array to String exception when audience is an array

[rogerms]

The error message should have said "Invalid audience... " but I received "Array to String conversion exception"
The problem is on line 203 of auth0-php\src\JWTVerifier.php
I changed it to
Invalid audience '.implode( ', ', $audience ).'; expected '.implode( ', ', $this->valid_audiences )

[joshcanhelp]

Thank you for the report here @rogerms! You're totally right, that first one should be imploded as well. I'll put through a fix ASAP.

[github-actions]

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