**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
<pre><code>{task_list}\n<code></pre>
            Blocking tasks:
            <pre><code>{blocking_task_list}<code></pre>
            Airflow Webserver URL: {conf.get(section='webserver', key='base_url')}
            """
            tasks_missed_sla = []
            for sla in slas:
                try:
                    task = dag.get_task(sla.task_id)
                except TaskNotFound:
                    
                    self.log.warning(
                        "Task %s doesn't exist in DAG anymore, skipping SLA miss notification.", sla.task_id
                    )
                    continue
                tasks_missed_sla.append(task)
            emails: Set[str] = set()
            for task in tasks_missed_sla:
                if task.email:
                    if isinstance(task.email, str):
                        emails |= set(get_email_address_list(task.email))
                    elif isinstance(task.email, (list, tuple)):
                        emails |= set(task.email)
            if emails:
                try:
                    send_email(emails, f"[airflow] SLA miss on DAG={dag.dag_id}", email_content)
                    email_sent = True
                    notification_sent = True
                except Exception:  
                    Stats.incr('sla_email_notification_failure')