This appears to be due to a liquibase release after version 4.28.0-1. I downgraded liquibase to version 4.28.0-1 from 4.31.1. At each version in between I tested the "update" command, and each version until 4.28.0-1 exhibited the same error. Once I arrived at version 4.28.0-1, the liquibase update succeeded.