java.lang.ClassNotFoundException: org.apache.hc.client5.http.ssl.TlsSocketStrategy when using docker-java API 3.5.0

I'm trying to use the Docker-Java API. Following the instruction in https://github.com/docker-java/docker-java/blob/main/docs/getting_started.md I build a DockerClientConfig and try to build a DockerHttpClient:

DockerClientConfig config = DefaultDockerClientConfig.createDefaultConfigBuilder().build();
DockerHttpClient httpClient = new ApacheDockerHttpClient.Builder()
                .dockerHost(config.getDockerHost())
                .sslConfig(config.getSSLConfig())
                .maxConnections(100)
                .connectionTimeout(Duration.ofSeconds(30))
                .responseTimeout(Duration.ofSeconds(45))
                .build();

Then the error comes out:

Exception in thread "main" java.lang.NoClassDefFoundError: org/apache/hc/client5/http/ssl/TlsSocketStrategy
    at com.github.dockerjava.httpclient5.ApacheDockerHttpClient$Builder.build(ApacheDockerHttpClient.java:50)
    at com.alibaba.ais.route.monitor.rmc.service.ContainerInfoService.func(ContainerInfoService.java:24) // this refers to "build" for the DockerhttpClient
    at com.alibaba.ais.route.monitor.rmc.Application.main(Application.java:15)
Caused by: java.lang.ClassNotFoundException: org.apache.hc.client5.http.ssl.TlsSocketStrategy
    at java.base/jdk.internal.loader.BuiltinClassLoader.loadClass(BuiltinClassLoader.java:641)
    at java.base/jdk.internal.loader.ClassLoaders$AppClassLoader.loadClass(ClassLoaders.java:188)
    at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:525)

I included the dependencies in my pom.xml:

<dependency>
    <groupId>com.github.docker-java</groupId>
    <artifactId>docker-java-core</artifactId>
    <version>3.5.0</version>
</dependency>

<dependency>
    <groupId>com.github.docker-java</groupId>
    <artifactId>docker-java-transport-httpclient5</artifactId>
    <version>3.5.0</version>
</dependency>

How do I solve this problem?