On Windows:
1. Download "DB Browser for SQLite" https://sqlitebrowser.org/
2. Unpack it and run "DB Browser for SQLCipher.exe".
3. Open database, select "%APPDATA%\Signal\sql\db.sqlite".
4. In the following dialog, select "Raw key" type and enter the encryption key stored in "%APPDATA%\Signal\config.json" into Password field (prefix it with 0x).
5. Now you can work with the database, including exporting its contents to unencrypted SQLite, CSV and JSON.
The process should be similar on other platforms.