Use semaphores for thread parking on Apple platforms
Currently we use a mutex-condvar pair for thread parking on Apple systems. Unfortunately, `pthread_cond_timedwait` uses the real-time clock for measuring time, which causes problems when the system time changes. The parking implementation in this PR uses a semaphore instead, which measures monotonic time by default, avoiding these issues. As a further benefit, this has the potential to improve performance a bit, since `unpark` does not need to wait for a lock to be released.
Since the Mach semaphores are poorly documented (I could not find availability or stability guarantees for instance), this uses a [dispatch semaphore](https://developer.apple.com/documentation/dispatch/dispatch_semaphore?language=objc) instead. While it adds a layer of indirection (it uses Mach semaphores internally), the overhead is probably negligible.
Tested on macOS 12.5.
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