[libc++][hardening][NFC] Introduce `_LIBCPP_ASSERT_UNCATEGORIZED`.

[libc++][hardening][NFC] Introduce `_LIBCPP_ASSERT_UNCATEGORIZED`.

Replace most uses of `_LIBCPP_ASSERT` with
`_LIBCPP_ASSERT_UNCATEGORIZED`.

This is done as a prerequisite to introducing hardened mode to libc++.
The idea is to make enabling assertions an opt-in with (somewhat)
fine-grained controls over which categories of assertions are enabled.
The vast majority of assertions are currently uncategorized; the new
macro will allow turning on `_LIBCPP_ASSERT` (the underlying mechanism
for all kinds of assertions) without enabling all the uncategorized
assertions (in the future; this patch preserves the current behavior).

Differential Revision: https://reviews.llvm.org/D153816