If you are looking for a more sophisticated solution, in a commercial scenario, you might want to consider yFiles for HTML. If your system is very simple, this might be overkill, though, and simpler solutions like jsPlumb may suffice.
The former library supports all kinds of user interaction and customization thereof, as well provides support for easy integration of your own shapes and visual representations.
For workflow visualization specifically, the automatic layout algorithm implementation of the Sugiyama Layout is helpful when a greater number of workflow items need to be arranged automatically:
In the above image, swimlanes have been added, which are very common in more complex workflow diagrams. The algorithm can arrange the shapes, their connections and the swim lanes automatically. You can see this in action in this live sample application
Disclosure: I work for the company that creates said library. On SO I do not represent my employer, my comments, thoughts and posts are my own.