Use shorter time formatting when possible

[Daimona]

Time intervals are currently using a format that always includes minutes and seconds, even when they are both zero. For example, 123 ms would be formatted as 00:00.123. This could be made a bit more readable by dropping the minutes and seconds and adding the unit, so 123 ms.
Perhaps, when minutes (but not seconds) are 0, it could also be shortened to something like 12.345 s.
Also worth noting that the default formatter already does something similar for hours, although in that case it only drops the leading 00:, without adding the unit.