ImportError: generic_type: type "VerbosityLevel" is already registered!

### Checklist

- [X] I have searched for [similar issues](https://github.com/isl-org/Open3D/issues).
- [X] For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [X] I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch).

### Describe the issue

After installing open3d (having an NVIDIA Geforce RTX Card) the statement:

"from open3d.cpu.pybind import utility" raise an Error:

ImportError: generic_type: type "VerbosityLevel" is already registered!

I could solve it using

"from open3d.cuda.pybind import utility"

The question is: Why does not work both possibilities in that case?

### Steps to reproduce the bug

```python
Install open3d from pip

"from open3d.cpu.pybind import utility"
```

### Error message

ImportError: generic_type: type "VerbosityLevel" is already registered!

### Expected behavior

_No response_

### Open3D, Python and System information

```markdown
- Operating system: Ubuntu 20.04
- Python version: Python 3.9.13 / output from `import sys; print(sys.version)`
- Open3D version: 0.15.2
- System architecture: x86
- Is this a remote workstation?: no
- How did you install Open3D?: pip
```

### Additional information

_No response_