Upgrade devise, devise-two-factor, and attr_encrypted

Devise 4 includes support for Rails 5, working towards #14286. devise-async doesn't support Devise 4.0 and in 4.1 the bug that was blocking using Devise's built-in ActiveJob integration was fixed. So devise-async is removed. devise-two-factor 3.0.0 is required for Devise 4 support.

attr_encrypted and encryptor are optional but recommended upgrades for devise-two-factor 3.0.0. The mode and algorithm will need to be changed in order to update to attr_encrypted 4.x in the future.

See merge request !4216