[mlir][IR][NFC] `Listener::notifyMatchFailure` returns `void` (#80704)

There are two `notifyMatchFailure` methods: one in the rewriter and one
in the listener. The one in the rewriter notifies the listener and
returns "failure" for convenience. The one in the listener should not
return anything; it is just a notification. It can currently be abused
to return "success" from the rewriter function. That would be a
violation of the rewriter API rules.

Also make sure that the listener is always notified about match
failures, not just with `NDEBUG`. The current implementation is
consistent: one `notifyMatchFailure` overload notifies only in debug
mode and another one notifies all the time.