authResult return idToken as Null

It seems that you’re missing the proper scope for an OpenID Connect request. Add scopes like openid profile email and also the response_type should be token id_token.

See the example at Lock v11 for Web (but replace Auth0LockPasswordless with Auth0Lock).

var lockPasswordless = new Auth0Lock(
 '0wESJsu7YgBK8EUUADH9qOBXTP5P5duz',
 'dev-thsfactory47.auth0.com',
 {
  auth: {
    redirectUrl: 'http://localhost:3000/',
    responseType: 'token id_token',
    params: {
      scope: 'openid profile email' 
    } 
 }
);

By the way: you’re using the embedded login via Lock SDK, not the Auth0 hosted Universal Login Page (ULP). Is it a requirement? Asking because using the ULP is usually easier and comes with less problems (as outlined in the yellow box on https://auth0.com/docs/libraries/lock/v11).