[FEA] Remove cleaned objects in memory cleaner

[res-life]

Is your feature request related to a problem? Please describe.
JNI MemoryCleaner holds a set of CleanerWeakReference which can go to very large size when doing NDS testing while full GC is not excuted frequently.
For the set, please refer to:

  private static final Set<CleanerWeakReference> all =
      Collections.newSetFromMap(new ConcurrentHashMap()); // We want to be thread safe

https://github.com/rapidsai/cudf/blob/v23.06.00a/java/src/main/java/ai/rapids/cudf/MemoryCleaner.java#L148-L149
I verified that the full GC will shrink the set. But in practice the full GC may be not executed for a long time.
And I verified there is no leak on the resources that the set references.

Not sure if this large size set can cause OOM, but we can remove the closed items as soon as possible to save memory.

Describe the solution you'd like
The MemoryCleaner.Cleaner already has isClean, because the cleaned object will not be used again.
We can safely remove the cleaned items.

Refer to:
https://github.com/rapidsai/cudf/blob/v23.06.00a/java/src/main/java/ai/rapids/cudf/MemoryCleaner.java#L144

Update the thread code to remove cleaned items
https://github.com/rapidsai/cudf/blob/v23.06.00a/java/src/main/java/ai/rapids/cudf/MemoryCleaner.java#L182-L207

Additional context
The K8s will kill executor if the memory of the Pod running this executor exceeds the definded value which is typically spark.executor.memory + spark.executor.memoryOverhead and report OOM which is a kind of K8s OOM.
Not sure if the large size of CleanerWeakReference is the cause.

Also reported in NVIDIA/spark-rapids#8305