Liquibase seems to be trying to insert null id into changeset table

Your yaml doesn’t have enough indentation and is being parsed incorrectly.
Try the following:

databaseChangeLog:
  - changeSet:
      id: 1
      author: sgream
      changes:
        - createTable:
            tableName: note
            columns:
              - column:
                  name: note_id
                  type: int
                  autoIncrement: true
                  constraints:
                    - primaryKeyName: note_id_pk
                    - primaryKey: true
                    - nullable: false
              - column:
                  name: note_title
                  type: varchar(1023)
              - column:
                  name: note_content
                  type: text