Don't write out a bad OID

If we don't have OID data for an object then we should fail if we
are asked to encode the ASN.1 for that OID.

Fixes #5723

Reviewed-by: Rich Salz <rsalz@openssl.org>
(Merged from https://github.com/openssl/openssl/pull/5725)

(cherry picked from commit 53c9818e)