Improve `Debug` impl of `core::time::Duration`

Prior to this, Duration simply derived Debug. Since Duration doesn't
implement `Display`, the only way to inspect its value is to use
`Debug`. Unfortunately, the derived `Debug` impl is far from optimal
for humans. In many cases, Durations are used for some quick'n'dirty
benchmarking (or in general: measuring the time of some code). Correctly
understanding the output of Duration's Debug impl is not easy (e.g.
is "{ secs: 0, nanos: 968360102 }" or "{ secs: 0, nanos 98507324 }"
shorter?).

This commit replaces the derived impl with a manual one. It prints
the duration as seconds (i.e. "3.1803s") if the duration is longer than
a second, otherwise it prints it in either ms, µs or ns (depending on
the duration's length). This already helps readability a lot and it
never omits information that is stored.

This `Debug` impl does *not* respect the following formatting parameters:

- fill/align/padding: difficult to implement, probably not worth it
- alternate # flag: not clear what this should do

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