Replace use of `lazy_static!` with `once_cell`

[etungsten]

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.