Add nice error message when a sync Web3 instance is used with an async provider and vice versa

[kclowes]

What feature should we add?

When a web3 instance is instantiated with the AsyncWeb3 class and a sync provider a TypeError gets raised:

>>> from web3 import AsyncWeb3, HTTPProvider
>>> w3 = AsyncWeb3(HTTPProvider(...))
>>> await w3.is_connected()
TypeError: object bool can't be used in 'await' expression

When a provider gets passed in, we should check to make sure it's passed to an async web3 instance if it's an async provider or a sync web3 instance if a sync provider gets passed.