You don't need to remove the double quotes if you read the data using a CSV-aware library. The rest of this answer shows how you may remove the unneeded double quotes from a generic CSV file, for the case where you rely on a more simplistic approach to parsing the data later.
Miller (mlr) would be able to read the CSV data and output it again using just
mlr --csv cat file
(Use with -I to do "in-place" editing.)
Miller would by default only quote fields that require quoting, e.g. fields containing embedded commas, quotes, or newlines.
In the same fashion, csvformat from csvkit would similarly only by default quote fields that actually require quoting:
csvformat file
The csvformat utility can't do "in-place" editing, so you would need to redirect the output to a new name.