Решил проблему, оказывается когда я в UserDetailsServiceпередавал объект в методе loadUserByUsername, который был создан на основе UserDetails, забыл в геттерах username и password вернуть объекты, и не надо отправлять хешированный пароль. Все работает.
Метод:

@Override
    @Transactional
    public UserDetails loadUserByUsername(String userName) throws UsernameNotFoundException {

        User user = userRepository.findByUserName(userName)
                .orElseThrow(() ->
                        new UsernameNotFoundException("User not found with username: " + userName)
                );
       UserPrincipal userPrincipal = UserPrincipal.create(user);
       logger.info("user with name: {} succesfully loaded", userPrincipal.getUsername());
       return userPrincipal;
    }

Объект:

@Data
@Builder(toBuilder = true)
@NoArgsConstructor
public class UserPrincipal implements UserDetails {

    static Logger logger = LoggerFactory.getLogger(UserPrincipal.class);

    private Long id;

    private String name;

    private String username;

    private String lastname;

    private String middlename;

    private String password;

    private Collection<? extends GrantedAuthority> authorities;

    public UserPrincipal(Long id, String username, String name, String password, String lastname, String middlename, Collection<? extends GrantedAuthority> authorities) {
        this.id = id;
        this.name = name;
        this.username = username;
        this.lastname = lastname;
        this.middlename = middlename;
        this.password = password;
        this.authorities = authorities;

    }

    public static UserPrincipal create(User user) {
        logger.info(user.toString());
        List<GrantedAuthority> authorities = user.getRoles().stream().map(role ->
                new SimpleGrantedAuthority(role.getRole())
        ).collect(Collectors.toList());

        return new UserPrincipal(
                user.getId(),
                user.getUserName(),
                user.getName(),
                user.getPassword(),
                user.getLastName(),
                user.getMiddleName(),
                authorities
        );
    }

    @Override
    public Collection<? extends GrantedAuthority> getAuthorities() {
        return authorities;
    }

    @Override
    public String getPassword() {
        return password;
    }

    @Override
    public String getUsername() {
        return username;
    }

    @Override
    public boolean isAccountNonExpired() {
        return true;
    }

    @Override
    public boolean isAccountNonLocked() {
        return true;
    }

    @Override
    public boolean isCredentialsNonExpired() {
        return true;
    }

    @Override
    public boolean isEnabled() {
        return true;
    }

    @Override
    public boolean equals(Object o) {
        if (this == o) return true;
        if (o == null || getClass() != o.getClass()) return false;
        UserPrincipal that = (UserPrincipal) o;
        return Objects.equals(id, that.id);
    }

    @Override
    public int hashCode() {

        return Objects.hash(id);
    }

@PostMapping("/signin")
    public ResponseEntity<?> authenticateUser(@Valid @RequestBody LoginRequest loginRequest) {
        String username = loginRequest.getUserName();
        String password = loginRequest.getPassword();
        Authentication authentication;
        try {
            authentication = authenticationManager.authenticate(
                    new UsernamePasswordAuthenticationToken(
                            username,
                            password
                    )
            );
        } catch (AuthenticationException e) {
            logger.error("Invalid username/password supplied");
            throw new BadCredentialsException("Invalid username/password supplied");
        }
        SecurityContextHolder.getContext().setAuthentication(authentication);

        String jwt = tokenProvider.generateToken(authentication);
        return ResponseEntity.ok(new JwtAuthenticationResponse(jwt));

    }