**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.

tests/jobs/test_scheduler_job.py
non_serialized_dagbag = DagBag(read_dags_from_db=False, include_examples=False)
        non_serialized_dagbag.sync_to_db()
        cls.dagbag = DagBag(read_dags_from_db=True)
    def test_dag_file_processor_sla_miss_callback(self):
        """
        Test that the dag file processor calls the sla miss callback
        """
        session = settings.Session()
        sla_callback = MagicMock()
        
        
        test_start_date = days_ago(1)
        dag = DAG(
            dag_id='test_sla_miss',
            sla_miss_callback=sla_callback,
            default_args={'start_date': test_start_date, 'sla': datetime.timedelta()},
        )
        task = DummyOperator(task_id='dummy', dag=dag, owner='airflow')
        session.merge(TaskInstance(task=task, execution_date=test_start_date, state='success'))
        session.merge(SlaMiss(task_id='dummy', dag_id='test_sla_miss', execution_date=test_start_date))
        dag_file_processor = DagFileProcessor(dag_ids=[], log=mock.MagicMock())
        dag_file_processor.manage_slas(dag=dag, session=session)
        assert sla_callback.called
    def test_dag_file_processor_sla_miss_callback_invalid_sla(self):