Parallelize vdev_load

metaslab_init is the slowest part of importing a mature pool, and it
must be repeated hundreds of times for each top-level vdev. But its
speed is dominated by a few serialized disk accesses. That can lead to
import times of > 1 hour for pools with many top-level vdevs on spinny
disks.

Speed up the import by using a taskqueue to parallelize vdev_load across
all top-level vdevs.

This also requires adding mutex protection to
metaslab_class_t.mc_historgram. The mc_histogram fields were
unprotected when that code was first written in "Illumos 4976-4984 -
metaslab improvements" (OpenZFS
f3a7f6610f2df0217ba3b99099019417a954b673). The lock wasn't added until
3dfb57a35e8cbaa7c424611235d669f3c575ada1, though it's unclear exactly
which fields it's supposed to protect. In any case, it wasn't until
vdev_load was parallelized that any code attempted concurrent access to
those fields.

Sponsored by: Axcient
Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Alan Somers <asomers@gmail.com>
Closes #11470