**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
)
            date = dag.following_schedule(date)
            ti1 = TaskInstance(task1, dr.execution_date)
            ti2 = TaskInstance(task2, dr.execution_date)
            tis.append(ti1)
            tis.append(ti2)
            ti1.refresh_from_db()
            ti2.refresh_from_db()
            ti1.state = State.SCHEDULED
            ti2.state = State.SCHEDULED
            session.merge(ti1)
            session.merge(ti2)
            session.flush()
        scheduler.max_tis_per_query = 2
        res = scheduler._critical_section_execute_task_instances(session)
        assert 2 == res
        scheduler.max_tis_per_query = 8
        with mock.patch.object(
            type(scheduler.executor), 'slots_available', new_callable=mock.PropertyMock
        ) as mock_slots:
            mock_slots.return_value = 2
            
            assert 2 == res
            res = scheduler._critical_section_execute_task_instances(session)
        res = scheduler._critical_section_execute_task_instances(session)
        assert 4 == res
        for ti in tis:
            ti.refresh_from_db()
            assert State.QUEUED == ti.state
    def test_execute_task_instances_unlimited(self):