```ts
function parseSemver(version: string): { major: number; minor: number; patch: number; prerelease: string | null; build: string | null } {
  const pattern = /^v?(0|[1-9]\d{0,2})\.([0-9]\d{0,2})\.([0-9]\d{0,2})(?:-(\d+(?:\.\d+)?))?(\+\S+)?$/;
  const matches = pattern.exec(version);

  if (!matches) {
    throw new Error(`Invalid semver string: ${version}`);
  }

  return {
    major: parseInt(matches[1], 10),
    minor: parseInt(matches[2], 10),
    patch: parseInt(matches[3], 10),
    prerelease: matches[4] ? matches[4].split('.') : null,
    build: matches[5] ? matches[5] : null
  };
}
```