assert: add direct promises support in rejects

This adds direct promise support to `assert.rejects` and
`assert.doesNotReject`. It will now accept both, functions and ES2015
promises as input.

Besides this the documentation was updated to reflect the latest
changes.

It also refactors the tests to a non blocking way to improve the
execution performance and improves the coverage.

PR-URL: https://github.com/nodejs/node/pull/19885


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