[ONNX] Update typing and error messages in symbolic_helper (#83007)
### Description
- Clearer error messages with more context
- Created `SymbolicValueError` which adds context of the value to the error message
- Type annotation
example error message:
```
torch.onnx.errors.SymbolicValueError: ONNX symbolic does not understand the Constant node '%1 : Long(2, strides=[1], device=cpu) = onnx::Constant[value= 3 3 [ CPULongType{2} ]]()
' specified with descriptor 'is'. [Caused by the value '1 defined in (%1 : Long(2, strides=[1], device=cpu) = onnx::Constant[value= 3 3 [ CPULongType{2} ]]()
)' (type 'Tensor') in the TorchScript graph. The containing node has kind 'onnx::Constant'.]
Inputs:
Empty
Outputs:
#0: 1 defined in (%1 : Long(2, strides=[1], device=cpu) = onnx::Constant[value= 3 3 [ CPULongType{2} ]]()
) (type 'Tensor')
```
### Issue
- #77316 (Runtime error during symbolic conversion)
### Testing
Unit tested
Pull Request resolved: https://github.com/pytorch/pytorch/pull/83007
Approved by: https://github.com/BowenBao
