Add on failure parameter to imperative workflow

[400Ping]

Tracking issue

Related to flyteorg/flyte#5913

Why are the changes needed?

As the issue stated, this function is in the base class and I don't see why not to expose it to imperative workflows.

What changes were proposed in this pull request?

I add a on_failure parameter in the ImperativeWorkflow class, you can see it in the commit

How was this patch tested?

Setup process

Screenshots

Check all the applicable boxes

• I updated the documentation accordingly.
• All new and existing tests passed.
• All commits are signed-off.

Related PRs

flyteorg/flyte#5913

Docs link

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 79.44%. Comparing base (3b7cb3c) to head (8eecab4).
Report is 1 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2908      +/-   ##
==========================================
+ Coverage   76.49%   79.44%   +2.94%     
==========================================
  Files         200      200              
  Lines       20901    20901              
  Branches     2689     2689              
==========================================
+ Hits        15989    16605     +616     
+ Misses       4195     3550     -645     
- Partials      717      746      +29     

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