Document that `assert!` format arguments are evaluated lazily

It can be useful to do some computation in `assert!` format arguments, in order to get better error messages. For example:

```rust
assert!(
    some_condition,
    "The state is invalid. Details: {}",
    expensive_call_to_get_debugging_info(),
);
```

It seems like `assert!` only evaluates the format arguments if the assertion fails, which is useful but doesn't appear to be documented anywhere. This PR documents the behavior and adds some tests.

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