It's unlikely you'll find a generic printer driver for this particular model.
"Generic" printers use languages like PCL (Printer Command Language) (Developed by HP), or Postscript (developed by Adobe). Additionally, they could emulate other printers like "HP LaserJet," "Epson," and even "IBM." There are some Canon printers that do have this type of emulation support like the BJC-210, however, I can find no documentation whatsoever for the MP140.
Just as an aside, there are generic PPDs (CUPS Printer Description/Definition) for Canon Postscript printers.
On the scanner side of things, I did find that the scanner is TWAIN / WIA compliant. You should be able to find generic TWAIN drivers, but WIA (Windows Image Acquisition) is Windows only. While TWAIN drivers for Mac will exist, the problem is most are 32 bit making them incompatible with Catalina (I obviously don't have a MP140 to test to see if it's natively recognized).
My recommendation is to retire it. It's obviously a quality product, but unfortunately it's hamstrung by a lack of "pro grade" features like Postscript and PCL printer languages. When shopping for your next replacement printer, go a step up and get something geared for business and not consumers. The consumables will be less and the lifespan much longer (I have an old Datamax label printer that still works because of PCL compatibility; it's not even USB!)