Tweak async documentation based on feedback

Add some clarifications to the async documentation. Also changed
ASYNC_pause_job() so that it returns success if you are not within the
context of a job. This is so that engines can be used either asynchronously
or synchronously and can treat an error from ASYNC_pause_job() as a real
error.

Reviewed-by: Rich Salz <rsalz@openssl.org>