**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
"""
        Test that externally triggered Dag Runs should not affect (by skipping) next
        scheduled DAG runs
        """
        dag = DAG(
            dag_id='test_bulk_write_to_db_external_trigger_dont_skip_scheduled_run',
            start_date=DEFAULT_DATE,
            schedule_interval="*/1 * * * *",
            max_active_runs=5,
            catchup=True,
        )
        DummyOperator(task_id='dummy', dag=dag, owner='airflow')
        session = settings.Session()
        dag.clear()
        dagbag = DagBag(
            dag_folder=os.path.join(settings.DAGS_FOLDER, "no_dags.py"),
            include_examples=False,
            read_dags_from_db=True,
        )
        dagbag.bag_dag(dag=dag, root_dag=dag)
        
        dagbag.sync_to_db(session)
        dag = dagbag.get_dag(dag.dag_id)