[mlir] Add a generic while/do-while loop to the SCF dialect

The new construct represents a generic loop with two regions: one executed
before the loop condition is verifier and another after that. This construct
can be used to express both a "while" loop and a "do-while" loop, depending on
where the main payload is located. It is intended as an intermediate
abstraction for lowering, which will be added later. This form is relatively
easy to target from higher-level abstractions and supports transformations such
as loop rotation and LICM.

Differential Revision: https://reviews.llvm.org/D90255