runtime: eliminate blocking GC work drains

Now work.helperDrainBlock is always false, so we can remove it and
code paths that only ran when it was true. That means we no longer use
the gcDrainBlock mode of gcDrain, so we can eliminate that. That means
we no longer use gcWork.get, so we can eliminate that. That means we
no longer use getfull, so we can eliminate that.

Updates #26903. This is a follow-up to unifying STW GC and concurrent GC.

Change-Id: I8dbcf8ce24861df0a6149e0b7c5cd0eadb5c13f6
Reviewed-on: https://go-review.googlesource.com/c/134782


Run-TryBot: Austin Clements <austin@google.com>
TryBot-Result: Gobot Gobot <gobot@golang.org>
Reviewed-by: Rick Hudson <rlh@golang.org>