[MLIR][Presburger] Move IdKind specific insert/append

This patch moves identifier kind specific insert/append functions like
`insertDimId`, `appendSymbolId`, etc. from IntegerPolyhedron to
FlatAffineConstraints.

This change allows for a smoother transition to IntegerRelation.

This change is part of a series of patches to introduce Relations in Presburger
library.

Reviewed By: arjunp

Differential Revision: https://reviews.llvm.org/D120576