The RP2040 is an example of a "microcontroller", a low-power processor with onboard program storage (typically Flash these days), and a bunch of handy peripherals (UART, I2C, PWM etc.) in a single small package. This is a modern type with 32 bit ARM processor but microcontrollers have been used by the millions, for decades(!) in consumer products, automotive hardware, etc. Not too many 8 bit machines used by hobbyists today, but 8051 and PIC and AVR live on in numerous product lines.
The RP2040 is definitely not pioneering here. More of a well-marketed "me too" device IMHO.
FPGAs, on the other hand, have always been for specialized applications. High speed signal processing for imaging, sonar, or radar. Boundary-pushing network interface design. That kind of thing. They use a ton of power and developers are hard to find.