According to the apache docs the syntax for ErrorDocument is

ErrorDocument error-code document
[download]

So it looks as though you could do it yourself

ErrorDocument 404 /cgi-bin/error.cgi?error=404
ErrorDocument 500 /cgi-bin/error.cgi?error=500
ErrorDocument 403 /cgi-bin/error.cgi?error=403
ErrorDocument 401 /cgi-bin/error.cgi?error=401
[download]

update: after further digging it looks as though you need to take account of Custom error responses and redirects too.