[ThreadPool] add ability to group tasks into separate groups

This is needed for parallelizing of loading modules symbols in LLDB
(D122975). Currently LLDB can parallelize indexing symbols
when loading a module, but modules are loaded sequentially. If LLDB
index cache is enabled, this means that the cache loading is not
parallelized, even though it could. However doing that creates
a threadpool-within-threadpool situation, so the number of threads
would not be properly limited.

This change adds ThreadPoolTaskGroup as a simple type that can be
used with ThreadPool calls to put tasks into groups that can be
independently waited for (even recursively from within a task)
but still run in the same thread pool.

Differential Revision: https://reviews.llvm.org/D123225