**Apache Airflow version**: 1.10.*
**BackPort Packages version**: 2020.10.5rc1

**What happened**:

`BigQueryInsertJobOperator` tries to start a BigQuery job by specifying a job_id which is a combination of `dag_id`, `task_id`, `execution_date` and an additional `uniqueness_suffix`.

https://github.com/apache/airflow/blob/master/airflow/providers/google/cloud/operators/bigquery.py#L2072

However, because BigQuery only accepts alphanumeric (in additon to dashes and underscore) characters then, if a DagID contains a version number whcih includes a `.` character then this will cause the task to fail.

https://cloud.google.com/bigquery/docs/running-jobs#generate-jobid

**How to reproduce it**:
Create a DAG with the name `my-dag-v1.0`.
airflow/providers/google/cloud/hooks/bigquery.py
https://cloud.google.com/bigquery/docs/reference/rest/v2/datasets/list
        :param project_id: Google Cloud Project for which you try to get all datasets
        :type project_id: str
        :param include_all: True if results include hidden datasets. Defaults to False.
        :param filter_: An expression for filtering the results by label. For syntax, see
            https://cloud.google.com/bigquery/docs/reference/rest/v2/datasets/list#filter.
        :param filter_: str
        :param max_results: Maximum number of datasets to return.
        :param max_results: int
        :param page_token: Token representing a cursor into the datasets. If not passed,
            the API will return the first page of datasets. The token marks the beginning of the
            iterator to be returned and the value of the ``page_token`` can be accessed at
            ``next_page_token`` of the :class:`~google.api_core.page_iterator.HTTPIterator`.
        :param page_token: str
        :param retry: How to retry the RPC.
        :type retry: google.api_core.retry.Retry
        """
        datasets = self.get_client(project_id=project_id).list_datasets(
            project=project_id,
            include_all=include_all,
            filter=filter_,
            max_results=max_results,
            page_token=page_token,
            retry=retry,
        )
        datasets_list = list(datasets)
        self.log.info("Datasets List: %s", len(datasets_list))
        return datasets_list
    @GoogleBaseHook.fallback_to_default_project_id
    def get_dataset(self, dataset_id: str, project_id: Optional[str] = None) -> Dataset: