### 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)

"Please use 'scheduler_idle_sleep_time'.",
                RemovedInAirflow3Warning,
                stacklevel=2,
            )
            scheduler_idle_sleep_time = processor_poll_interval
        self._scheduler_idle_sleep_time = scheduler_idle_sleep_time
        
        self._zombie_threshold_secs = conf.getint("scheduler", "scheduler_zombie_task_threshold")
        self._standalone_dag_processor = conf.getboolean("scheduler", "standalone_dag_processor")
        self._dag_stale_not_seen_duration = conf.getint("scheduler", "dag_stale_not_seen_duration")
        
        
        
        
        
        stalled_task_timeout = conf.getfloat("celery", "stalled_task_timeout", fallback=0)
        if stalled_task_timeout:
            
            warnings.warn(
                "The '[celery] stalled_task_timeout' config option is deprecated. "
                "Please update your config to use '[scheduler] task_queued_timeout' instead.",
                DeprecationWarning,
            )
        task_adoption_timeout = conf.getfloat("celery", "task_adoption_timeout", fallback=0)
        if task_adoption_timeout:
            
            warnings.warn(
                "The '[celery] task_adoption_timeout' config option is deprecated. "
                "Please update your config to use '[scheduler] task_queued_timeout' instead.",
                DeprecationWarning,