rollup merge of #23541: aturon/stab-error

This small commit stabilizes the `Error` trait as-is, except that `Send`
and `Debug` are added as constraints. The `Send` constraint is because
most uses of `Error` will be for trait objects, and by default we would
like these objects to be transferrable between threads. The `Debug`
constraint is to ensure that e.g. `Box<Error>` is `Debug`, and because
types that implement `Display` should certainly implement `Debug` in any case.

In the near future we expect to add `Any`-like downcasting features to
`Error`, but this is waiting on some additional
mechanisms (`Reflect`). It will be added before 1.0 via default methods.

[breaking-change]

r? @alexcrichton

Closes #21790

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