Jenkins sample pipeline job failing every time - jenkins-pipeline

Question

I am new learner of Jenkins, I tried to run one very basic sample declarative pipeline code, but every time my job get failed. Any help will be appreciated.
Sample pipeline code -
pipeline {
agent any
stages {
stage('Stage 1') {
steps {
echo 'Hello world!'
}
}
}
}
Error what I am getting -
Started by user unknown or anonymous
[Pipeline] node
Running on master in C:\Program Files (x86)\Jenkins\jobs\SamplePipeline\workspace#4
[Pipeline] {
[Pipeline] stage
[Pipeline] { (Stage 1)
[Pipeline] End of Pipeline
java.lang.NoClassDefFoundError: hudson/util/Memoizer
at org.jenkinsci.plugins.workflow.cps.nodes.StepAtomNode.getDescriptor(StepAtomNode.java:61)
at org.jenkinsci.plugins.workflow.cps.nodes.StepAtomNode.getTypeFunctionName(StepAtomNode.java:81)
at org.jenkinsci.plugins.workflow.graph.FlowNode.getDisplayFunctionName(FlowNode.java:194)
at org.jenkinsci.plugins.workflow.job.WorkflowRun.logNodeMessage(WorkflowRun.java:918)
at org.jenkinsci.plugins.workflow.job.WorkflowRun.access$1300(WorkflowRun.java:125)
at org.jenkinsci.plugins.workflow.job.WorkflowRun$GraphL.onNewHead(WorkflowRun.java:899)
at org.jenkinsci.plugins.workflow.cps.CpsFlowExecution.notifyListeners(CpsFlowExecution.java:1110)
at org.jenkinsci.plugins.workflow.cps.CpsThreadGroup$3.run(CpsThreadGroup.java:402)
at org.jenkinsci.plugins.workflow.cps.CpsVmExecutorService$1.run(CpsVmExecutorService.java:35)
at hudson.remoting.SingleLaneExecutorService$1.run(SingleLaneExecutorService.java:131)
at jenkins.util.ContextResettingExecutorService$1.run(ContextResettingExecutorService.java:28)
at jenkins.security.ImpersonatingExecutorService$1.run(ImpersonatingExecutorService.java:59)
at java.util.concurrent.Executors$RunnableAdapter.call(Unknown Source)
at java.util.concurrent.FutureTask.run(Unknown Source)
at java.util.concurrent.ThreadPoolExecutor.runWorker(Unknown Source)
at java.util.concurrent.ThreadPoolExecutor$Worker.run(Unknown Source)
at java.lang.Thread.run(Unknown Source)
Caused by: java.lang.ClassNotFoundException: hudson.util.Memoizer
at jenkins.util.AntClassLoader.findClassInComponents(AntClassLoader.java:1387)
at jenkins.util.AntClassLoader.findClass(AntClassLoader.java:1342)
at jenkins.util.AntClassLoader.loadClass(AntClassLoader.java:1089)
at java.lang.ClassLoader.loadClass(Unknown Source)
... 17 more
Finished: FAILURE