**Apache Airflow version**: 2.0.0rc3

**Kubernetes version (if you are using kubernetes)** (use `kubectl version`):

**Environment**:

- **Cloud provider or hardware configuration**: Linux
- **OS** (e.g. from /etc/os-release): Ubuntu
- **Kernel** (e.g. `uname -a`): 
- **Install tools**:
- **Others**:

**What happened**:

After shutting down the scheduler, while tasks were in running state, trying to restart the scheduler results in pk violations..

```[2020-12-15 22:43:29,673] {scheduler_job.py:1293} ERROR - Exception when executing SchedulerJob._run_scheduler_loop
Traceback (most recent call last):
  File "/home/jcoder/git/airflow_2.0/pyenv/lib/python3.7/site-packages/sqlalchemy/engine/base.py", line 1277, in _execute_context
    cursor, statement, parameters, context
  File "/home/jcoder/git/airflow_2.0/pyenv/lib/python3.7/site-packages/sqlalchemy/engine/default.py", line 593, in do_execute
    cursor.execute(statement, parameters)
psycopg2.errors.UniqueViolation: duplicate key value violates unique constraint "dag_run_dag_id_run_id_key"
DETAIL:  Key (dag_id, run_id)=(example_task_group, scheduled__2020-12-14T04:31:00+00:00) already exists.
```


**What you expected to happen**:

Scheduler restarts and picks up where it left off.

**How to reproduce it**:

Set example dag ( I used task_group) to schedule_interval `* * * * *` and start the scheduler and let it run for a few minutes. 
Shut down the scheduler
Attempt to restart the scheduler

**Anything else we need to know**:
I came across this doing testing using the LocalExecutor in a virtual env. If no else is able to reproduce it, I'll try again in a clean virtual env.

airflow/jobs/scheduler_job.py
self,
        file_path: str,
        callback_requests: List[CallbackRequest],
        pickle_dags: bool = False,
        session: Session = None,
    ) -> Tuple[int, int]:
        """
        Process a Python file containing Airflow DAGs.
        This includes:
        1. Execute the file and look for DAG objects in the namespace.
        2. Execute any Callbacks if passed to this method.
        3. Serialize the DAGs and save it to DB (or update existing record in the DB).
        4. Pickle the DAG and save it to the DB (if necessary).
        5. Record any errors importing the file into ORM
        :param file_path: the path to the Python file that should be executed
        :type file_path: str
        :param callback_requests: failure callback to execute
        :type callback_requests: List[airflow.utils.dag_processing.CallbackRequest]
        :param pickle_dags: whether serialize the DAGs found in the file and
            save them to the db
        :type pickle_dags: bool
        :param session: Sqlalchemy ORM Session
        :type session: Session
        :return: number of dags found, count of import errors
        :rtype: Tuple[int, int]
        """