fix(setup =_helpers): don't add -g0 CFLAGS sets -g (#3436)

On Unix, setuptools prepends $CFLAGS and $CPPFLAGS to the compiler flags
(they always come before extra_compile_args and anything else; see
distutils.sysconfig.customize_compiler).  In practice, the environment
variables are useful e.g. to quickly generate a debug build (e.g. by
setting CFLAGS=-g), but Pybind11Extension currently unconditionally
overwrites this with -g0.

Instead, check the environment variables and only insert -g0 if not
overridden by them.