### What do you see as an issue?

The documentation for zombie tasks https://airflow.apache.org/docs/apache-airflow/stable/core-concepts/tasks.html#zombie-undead-tasks is a bit abstract at the moment. There is a scope for enhancing the document by explaining how Airflow detects tasks as zombies

### Solving the problem

We can enhance the documentation by translating this query https://github.com/astronomer/airflow/blob/main/airflow/jobs/scheduler_job_runner.py#L1721 to a layman readable text in our documentation.

### Anything else

It might also help to add developer contribution steps to reproduce zombies locally.

### Are you willing to submit PR?

- [ ] Yes I am willing to submit a PR!

### Code of Conduct

- [X] I agree to follow this project's [Code of Conduct](https://github.com/apache/airflow/blob/main/CODE_OF_CONDUCT.md)

from airflow.utils.event_scheduler import EventScheduler
from airflow.utils.log.logging_mixin import LoggingMixin
from airflow.utils.log.task_context_logger import TaskContextLogger
from airflow.utils.retries import MAX_DB_RETRIES, retry_db_transaction, run_with_db_retries
from airflow.utils.session import NEW_SESSION, create_session, provide_session
from airflow.utils.sqlalchemy import (
    is_lock_not_available_error,
    prohibit_commit,
    skip_locked,
    tuple_in_condition,
    with_row_locks,
)
from airflow.utils.state import DagRunState, JobState, State, TaskInstanceState
from airflow.utils.types import DagRunType
if TYPE_CHECKING:
    import logging
    from datetime import datetime
    from types import FrameType
    from sqlalchemy.engine import Result
    from sqlalchemy.orm import Query, Session
    from airflow.dag_processing.manager import DagFileProcessorAgent
    from airflow.models.taskinstance import TaskInstanceKey
    from airflow.utils.sqlalchemy import (
        CommitProhibitorGuard,
    )
TI = TaskInstance
DR = DagRun
DM = DagModel
@dataclass
class ConcurrencyMap: