stream: make the pipeline callback mandatory

Right now when not adding a callback to the pipeline it could cause
an uncaught exception if there is an error. Instead, just make the
callback mandatory as mostly done in all other Node.js callback APIs
so users explicitly have to decide what to do in such situations.

PR-URL: https://github.com/nodejs/node/pull/21054


Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Michaël Zasso <targos@protonmail.com>
Reviewed-By: Trivikram Kamat <trivikr.dev@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>