Consider moving compactor and scan server path cleaners to a utility

The Manager and CompactionCoordinator classes start cleanup threads ([here](https://github.com/apache/accumulo/blob/main/server/manager/src/main/java/org/apache/accumulo/manager/Manager.java#L1173) and [here](https://github.com/apache/accumulo/blob/main/server/manager/src/main/java/org/apache/accumulo/manager/compaction/coordinator/CompactionCoordinator.java#L266)) that remove paths in ZooKeeper that are no longer being used. The `accumulo-cluster` script uses the `ZooZap` utility to clean ZooKeeper paths when stopping the cluster ([here](https://github.com/apache/accumulo/blob/main/assemble/bin/accumulo-cluster#L491) for example).

If we removed the ZK cleaner threads in the Manager and CompactionCoordinator, then it would be relatively easy to determine how many and which compactors and scan servers were started, but not running.