**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
self,
        table: Any,
        rows: Any,
        target_fields: Any = None,
        commit_every: Any = 1000,
        replace: Any = False,
        **kwargs,
    ) -> NoReturn:
        """
        Insertion is currently unsupported. Theoretically, you could use
        BigQuery's streaming API to insert rows into a table, but this hasn't
        been implemented.
        """
        raise NotImplementedError()
    def get_pandas_df(