Revert "Allow bar to be transparent if letterbox contains bar"

This reverts commit 39f818c7.

Reason for revert: Breaks LIGHT_STATUS/NAVIGATION_BAR with LAYOUT_IN_CUTOUT_MODE_NEVER
Bug: 152273579
Bug: 159627574
Bug: 156301377
Test: Receive call on device with a cutout, verify status bar has icons

Change-Id: I4de084c86ba234fec586e9cd140138a47ed5d87a