Defer resilver only when progress is above a threshold

Restart a resilver from scratch, if the current one in progress is
below a new tunable, zfs_resilver_defer_percent (defaulting to 10%).

The original rationale for deferring additional resilvers, when there is
already one in progress, was to help achieving data redundancy sooner
for the data that gets scanned at the end of the resilver.

But in case the admin wants to attach multiple disks to a single vdev,
it wasn't immediately obvious the admin is supposed to run
zpool resilver afterwards to reset the deferred resilvers and start
a new one from scratch.

Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Pavel Snajdr <snajpa@snajpa.net>
Closes #15810