Stop polling for navigations once a frame is disconnected
Fix a bug in `onDocumentReady` where the callback would fire continuously with an error after the frame either navigated to a cross-origin URL, or was removed from its parent frame. Also emit a more appropriate error message in the case where the frame is disconnected. In the VitalSource integration this issue manifested in an `onDocumentReady` callback firing continuously for the previous chapter's iframe when it was removed from the document. This didn't cause an error because the callback registered by the VS integration does nothing in that case, but it wasted resources.
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