**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/models/serialized_dag.py
"""Reads all DAGs in serialized_dag table.
        :param session: ORM Session
        :returns: a dict of DAGs read from database
        """
        serialized_dags = session.query(cls)
        dags = {}
        for row in serialized_dags:
            log.debug("Deserializing DAG: %s", row.dag_id)
            dag = row.dag
            
            if dag.dag_id == row.dag_id:
                dags[row.dag_id] = dag
            else:
                log.warning(
                    "dag_id Mismatch in DB: Row with dag_id '%s' has Serialised DAG with '%s' dag_id",
                    row.dag_id,
                    dag.dag_id,
                )
        return dags
    @property
    def dag(self):
        """The DAG deserialized from the ``data`` column"""
        if isinstance(self.data, dict):
            dag = SerializedDAG.from_dict(self.data)  
        else:
            dag = SerializedDAG.from_json(self.data)  
        return dag
    @classmethod
    @provide_session
    def remove_dag(cls, dag_id: str, session: Session = None):