async_hooks: use CHECK instead of throwing error

SetupHooks is only available via `process.binding('async_wrap')`, so
there's no reason it shouldn't be called with the appropriate arguments,
since it is an internal-only function. The only place this function is
used is `lib/internal/async_hooks.js`.

PR-URL: https://github.com/nodejs/node/pull/17832


Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Anatoli Papirovski <apapirovski@mac.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Gireesh Punathil <gpunathi@in.ibm.com>
Reviewed-By: Luigi Pinca <luigipinca@gmail.com>