Migrate utility function `raise_data_error` to logging module

[danielhuppmann]

Description of PR

While working on #580 and doing some benchmarking, I got tangled between the actual performance improvements and some refactoring to prevent circular imports. This PR separates out some pure refactoring and clean-up, moving the raise_data_error utility function to the logging module.

[codecov[bot]]

Codecov Report

Merging #584 (41a05c2) into main (151e330) will increase coverage by 0.0%. The diff coverage is 89.4%.

@@          Coverage Diff          @@
##            main    #584   +/-   ##
=====================================
  Coverage   93.7%   93.7%           
=====================================
  Files         50      50           
  Lines       5339    5341    +2     
=====================================
+ Hits        5004    5006    +2     
  Misses       335     335           

Impacted Files	Coverage Δ
pyam/plotting.py	92.9% <50.0%> (+<0.1%)	:arrow_up:
pyam/utils.py	91.6% <80.0%> (-0.1%)	:arrow_down:
pyam/core.py	94.3% <100.0%> (ø)
pyam/index.py	98.0% <100.0%> (ø)
pyam/logging.py	64.8% <100.0%> (+5.4%)	:arrow_up:
pyam/time.py	96.0% <100.0%> (ø)

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[danielhuppmann]

Merging as there were no objections and this is a non-functional change.