Add idle priority scheduling privilege group to MAC/priority

Add an idletime user group that allows non-root users to run processes
with idle scheduling priority. Privileges are granted by a MAC policy in
the mac_priority module. For this purpose, the kernel privilege
PRIV_SCHED_IDPRIO was added to sys/priv.h (kernel module ABI change).

Deprecate the system wide sysctl(8) knob
security.bsd.unprivileged_idprio which lets any user run idle priority
processes, regardless of context. While the knob is still working, it is
marked as deprecated in the description and in the man pages.

MFC after: 2 weeks
Differential revision: https://reviews.freebsd.org/D33338