A security certificate for HP printers expired on the 23rd of October.
People all over the world were affected.
HP released a new package of drivers with a valid certificate on the 25th October.
As you have not told us which HP printer you have I can only give you
a link to the driver support site for my printer.
The download is a universal one used for many different HP printers/ scanners etc
so it may well cover yours. It is worth a try and will not harm anything.
https://support.hp.com/gb-en/drivers/selfservice/hp-photosmart-c5200-all-in-one-printer-series/3204462
Make sure the operating system selector is set for macOS 10.15
Click on the + next to Driver Product Installation Software and click on Download.
Once Downloaded double click to install.