**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
session.query(TI)
                .filter(TI.state != State.SUCCESS, TI.execution_date.in_(sla_dates), TI.dag_id == dag.dag_id)
                .all()
            )
            blocking_tis: List[TI] = []
            for ti in fetched_tis:
                if ti.task_id in dag.task_ids:
                    ti.task = dag.get_task(ti.task_id)
                    blocking_tis.append(ti)
                else:
                    session.delete(ti)
                    session.commit()
            task_list = "\n".join([sla.task_id + ' on ' + sla.execution_date.isoformat() for sla in slas])
            blocking_task_list = "\n".join(
                [ti.task_id + ' on ' + ti.execution_date.isoformat() for ti in blocking_tis]
            )
            
            
            email_sent = False
            notification_sent = False
            if dag.sla_miss_callback:
                
                self.log.info('Calling SLA miss callback')
                try:
                    dag.sla_miss_callback(dag, task_list, blocking_task_list, slas, blocking_tis)
                    notification_sent = True
                except Exception:  
                    self.log.exception("Could not call sla_miss_callback for DAG %s", dag.dag_id)
            email_content = f"""\
            Here's a list of tasks that missed their SLAs: