After many successful build, I happened to bump into the following error when trying to run docker build.

=> ERROR [internal] booting buildkit
=> => pulling image moby/buildkit:buildx-stable-1

...

ERROR: Error response from daemon: {"message":"x509: certificate signed by unknown authority"}

The only thing changed on my machine was I installed and run podman, so I stop podman machine by running:

podman machine stop

And docker build works again.