Make cycle errors recoverable

In particular, this allows rustdoc to recover from cycle errors when normalizing associated types for documentation.

In the past, `@jackh726` has said we need to be careful about overflow errors:

> Off the top of my head, we definitely should be careful about treating overflow errors the same as
"not implemented for some reason" errors. Otherwise, you could end up with behavior that is
different depending on recursion depth. But, that might be context-dependent.

But cycle errors should be safe to unconditionally report; they don't depend on the recursion depth, they will always be an error whenever they're encountered.

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