Replace use of `lazy_static!` with `once_cell`

**What I'd like:**
Replace use of `lazy_static!` with `once_cell` in all our workspaces.
`once_cell` lets us avoid the use of macros, compiles faster, and allows for more ways to lazily initialize. It is also being considered for inclusion in std: https://github.com/rust-lang/rust/issues/74465.
We're already pulling in `once_cell` as a transitive dependency.