Simplify lemma interface (#5819)

Simplify lemma interface (#5819)

This makes it so that TheoryEngine::lemma returns void not LemmaStatus.

Currently, there was only one use of LemmaStatus by theory solvers, which was CEGQI using it as a way of getting the preprocessed form of a lemma. This makes it so that there is an explicit method in Valuation for getting the preprocessed form of a term + its skolems and their definition assertions.

It also simplifies a few things, e.g. Valuation calls are forwarded to PropEngine instead of going through TheoryEngine. It fixes a few issues in TermFormulaRemoval related to getSkolems.