### 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)

try:
                    num_failed = session.execute(
                        update(Job)
                        .where(
                            Job.job_type == "SchedulerJob",
                            Job.state == JobState.RUNNING,
                            Job.latest_heartbeat < (timezone.utcnow() - timedelta(seconds=timeout)),
                        )
                        .values(state=JobState.FAILED)
                    ).rowcount
                    if num_failed:
                        self.log.info("Marked %d SchedulerJob instances as failed", num_failed)
                        Stats.incr(self.__class__.__name__.lower() + "_end", num_failed)
                    query = (
                        select(TI)
                        .where(TI.state.in_(State.adoptable_states))
                        
                        
                        
                        
                        .outerjoin(TI.queued_by_job)
                        .where(or_(TI.queued_by_job_id.is_(None), Job.state != JobState.RUNNING))
                        .join(TI.dag_run)
                        .where(
                            DagRun.run_type != DagRunType.BACKFILL_JOB,
                            DagRun.state == DagRunState.RUNNING,
                        )
                        .options(load_only(TI.dag_id, TI.task_id, TI.run_id))
                    )