fix: throw error when column does not exist during INSERT INTO

[brianstrauch]

Description

When using INSERT INTO with a nonexistent column, return a helpful error message instead of null.

ksql> CREATE STREAM test_stream (x VARCHAR, y INTEGER) WITH (kafka_topic='test_topic', key='x', value_format='json', partitions=1);
ksql> INSERT INTO test_stream (x, nonexistent) VALUES ('x', 0);
Failed to insert values into 'TEST_STREAM'. Column name `NONEXISTENT` does not exist.

Fixes #3838
Fixes #4253

Testing done

Wrote new unit test

Reviewer checklist

• Ensure docs are updated if necessary. (eg. if a user visible feature is being added or changed).
• Ensure relevant issues are linked (description should include text like "Fixes #")

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[brianstrauch]

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[agavra]

Thanks for the contribution @brianstrauch - nice fix :)