…t are not cleaned up

Currently we don't delete any log segments if the cleanup policy doesn't 
include delete. This patch changes the behavior to delete log segments that 
fully precede the log start offset even when deletion is not enabled. Tested 
with unit tests to verify that LogManager.cleanupLogs now cleans logs with 
cleanup.policy=compact and that Log.deleteOldSegments deletes segments that 
preced the start offset regardless of the cleanup policy.

### Committer Checklist (excluded from commit message)
- [ ] Verify design and implementation 
- [ ] Verify test coverage and CI build status
- [ ] Verify documentation (including upgrade notes)


[ Full content available at: https://github.com/apache/kafka/pull/5646 ]
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