[tf.data] Refactor the parallel execution logic out of ParallelMapDatasetOp.
This change will enable the definition of specialized datasets that map a C++ function across their inputs. In addition, this change refactors the `DatasetIterator<DatasetType>` template class to create a non-templated base class that contains the non-`DatasetType`-specific portions of the class. PiperOrigin-RevId: 206869786
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