scripts should be enqueued on ‘init’ at the earliest any sooner and you’re breaking the rules according to WP docs.
The scripts are registered on init as well at the regular priority so you’ll want to make sure you enqueue them after their registered or else WP won’t have the registered script yet.
So something like this in your functions.php should work:
function theme_highcharts_script_enqueue() {
wp_enqueue_script( 'highcharts-exporting' );
}
add_action( 'init', 'theme_highcharts_script_enqueue', 20 );