Common: Avoid std::function overhead in ScopeGuard

So far in all our uses of ScopeGuard, the type of the callable is
usually just a lambda or a function pointer, so there is no need
to rely on std::function's type erasure.

While the cost of using std::function is probably negligible, it still
causes some unnecessary overhead that can be avoided by making
ScopeGuard a templated class. Thanks to class template argument
deduction in C++17 most existing usages do not even need to be changed.

See https://godbolt.org/z/KcoPni for a comparison between
a ScopeGuard that uses std::function and one that doesn't

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