**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
} == {(ti.task_id, ti.state) for ti in tis}
        for state, start_date, end_date, duration in [
            (ti.state, ti.start_date, ti.end_date, ti.duration) for ti in tis
        ]:
            if state == 'success':
                assert start_date is not None
                assert end_date is not None
                assert 0.0 == duration
            else:
                assert start_date is None
                assert end_date is None
                assert duration is None
        scheduler_job._schedule_dag_run(dr, {}, session)
        with create_session() as session:
            tis = session.query(TaskInstance).all()
        assert 5 == len(tis)
        assert {
            ('test_task_a', 'success'),
            ('test_task_b', 'success'),
            ('test_task_c', 'success'),
            ('test_task_on_execute', 'scheduled'),
            ('test_task_on_success', 'scheduled'),
        } == {(ti.task_id, ti.state) for ti in tis}
        for state, start_date, end_date, duration in [
            (ti.state, ti.start_date, ti.end_date, ti.duration) for ti in tis
        ]:
            if state == 'success':
                assert start_date is not None
                assert end_date is not None
                assert 0.0 == duration