Modify the PyROS Logging System

[shermanjasonaf]

Summary/Motivation:

This PR modifies the PyROS solver output logging system so that the output shown by the default logger (or any other INFO-level logger) is simplified.

Changes proposed in this PR:

• Log the following at DEBUG, rather than INFO level: (i) full PyROS solver config, (ii) backup solver invocations, (iii) subproblem solve failures for the master feasibility and DR polishing problems, (iv) timing profile, (v) component statistics for the preprocessed model
• Add indication of backup solver invocation to the (INFO-level) iteration log table
• Log component statistics for the un-preprocessed model at INFO level
• Update tests and documentation according to the new changes

TODO

• (After Bugfix: ConfigDict.user_values() should return only child entries, not instance itself #3722 merged) Simplify logging of user options
• Add results for successfully solved individual separation problems to DEBUG-level logs

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[shermanjasonaf]

@jas-yao @natalieisenberg @jsiirola