crypto: refactor argument validation for pbkdf2

Move input argument validation to js, using internal/errors.

Also update docs

* `password` and `salt` may be Buffers or any TypedArrays
* `crypto.DEFAULT_ENCODING` changes the returned derivedKey type

PR-URL: https://github.com/nodejs/node/pull/15746


Reviewed-By: Luigi Pinca <luigipinca@gmail.com>
Reviewed-By: Sakthipriyan Vairamani <thechargingvolcano@gmail.com>
Reviewed-By: Fedor Indutny <fedor.indutny@gmail.com>
Reviewed-By: Joyee Cheung <joyeec9h3@gmail.com>