Nvidia-container-cli: relocation error

I want to use GPU in docker, so I did the following command:
sudo docker run -it --gpus=all -v /home/gsc/data_2T/:/home/gsc/data_2T/ nvcr.io/nvidia/cuda:11.1.1-devel-ubuntu20.04 bash

and I got errors:

docker: Error response from daemon: failed to create task for container: failed to create shim task: OCI runtime create failed: runc create failed: unable to start container process: error during container init: error running hook #0: error running hook: exit status 127, stdout: , stderr: Auto-detected mode as ‘legacy’
/usr/bin/nvidia-container-cli: relocation error: /lib/x86_64-linux-gnu/libpthread.so.0: symbol __libc_vfork version GLIBC_PRIVATE not defined in file libc.so.6 with link time reference: unknown.
ERRO[0000] error waiting for container:

other imformations:
my host system is Ubuntu 18.04, and nvidia driver version as following show:
Wed Jul 19 16:04:12 2023
±--------------------------------------------------------------------------------------+
| NVIDIA-SMI 535.54.03 Driver Version: 535.54.03 CUDA Version: 12.2 |
|-----------------------------------------±---------------------±---------------------+
| GPU Name Persistence-M | Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap | Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|=========================================+======================+======================|
| 0 NVIDIA GeForce RTX 3080 Off | 00000000:01:00.0 On | N/A |
| 30% 39C P8 18W / 320W | 1659MiB / 10240MiB | 0% Default |
| | | N/A |
±----------------------------------------±---------------------±---------------------+

±--------------------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=======================================================================================|
| 0 N/A N/A 1254 G /usr/lib/xorg/Xorg 410MiB |
| 0 N/A N/A 2311 G /usr/bin/gnome-shell 89MiB |
| 0 N/A N/A 3411 G …92257014,3629574098790215744,262144 75MiB |
| 0 N/A N/A 3616 G /proc/self/exe 42MiB |
| 0 N/A N/A 4121 G …sion,SpareRendererForSitePerProcess 148MiB |
| 0 N/A N/A 8443 C+G /usr/lib/vmware/bin/mksSandbox 866MiB |
±--------------------------------------------------------------------------------------+