It's hard to get more canonical than the Dragon Book. The Dragon Book (2nd Ed.) says this in section 1.2: "Up to this point we have treated a compiler as a single box that maps a source program into a semantically equivalent target program."
So, the most canonical source doesn't include an explicit mention of high-level to low-level (though there may be sources I'm missing). But in my experience, that's definitely the connotation. Otherwise, the term transpiler, which is connoted with not outputting low-level code, never would have arisen.
re: transpiler – all I'm saying is that the term arose because people associated compilers with low-level outputs.
In summary, there don't appear to be canonical definitions of compilers as having low-level outputs, but for some reason many speak of them that way.
Compiler: one who compiles - first use 14th century
And for compile:
transitive verb
1 : to compose out of materials from other documents
2 : to collect and edit into a volume
3 : to build up gradually <compiled a record of four wins and two losses>
Origin: Middle English, from Anglo-French compiler, from Latin compilare to plunder.
Synonyms: anthologize, collect
Note, I've skipped the dictionary references to computer use, as the seem overly (wrongly) focused on "top down" compilation...