Refactor term registration visitors (#5875)

Refactor term registration visitors (#5875)

This refactors the term registration visitors (PreRegisterVisitor and SharedTermsVisitor), which are responsible for calling Theory::preRegisterTerm and Theory::addSharedTerm.

The purpose of this PR is to resolve a subtle bug in the implementation of PreRegisterVisitor (see explanation below), and to improve performance in particular on the Facebook benchmarks (where preregistering terms is currently 25-35% of runtime on certain challenge benchmarks).

This PR makes it so that that SharedTermsVisitor now subsumes PreRegisterVisitor and should be run when sharing is enabled only. Previously, we ran both PreRegisterVisitor and SharedTermsVisitor, and moreover the former misclassified when a literal had multiple theories since the d_theories field of PreRegisterVisitor is never reset. This meant we would consider a literal to have multiple theories as soon as we saw any literal that had multipleTheories. After this PR, we run SharedTermsVisitor only which also handles calling preRegisterTerm, since it has the ability to anyways (it computes the same information as PreRegisterVisitor regarding which theories care about a term).

The refactoring merges the blocks of code that were copy and pasted in term_registration_visitor.cpp and makes them more optimal, by reducing our calls to Theory::theoryOf.

FYI @barrettcw