Add colored logs to Toil

[stxue1]

Toil's logging can be very verbose and large sometimes. Colored logs might help with readability. I took a short glance at how MiniWDL does colored logs and it looks fairly easy to add colors. MiniWDL does make its text bold though, and I'm not sure if Toil should as well.

On a related note, I also believe configargparse is fully compatible with argcomplete, so it's possible to add that too to make using Toil on CLI easier.

┆Issue is synchronized with this Jira Story
┆Issue Number: TOIL-1516