provide a way to drop a runtime in an async context (#2646)

Dropping a runtime normally involves waiting for any outstanding blocking tasks
to complete. When this drop happens in an asynchronous context, we previously
would issue a cryptic panic due to trying to block in an asynchronous context.

This change improves the panic message, and adds a `shutdown_blocking()` function
which can be used to shutdown a runtime without blocking at all, as an out for
cases where this really is necessary.

Co-authored-by: Bryan Donlan <bdonlan@amazon.com>
Co-authored-by: Alice Ryhl <alice@ryhl.io>

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