**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/operators/bigquery.py
if self.hook is None:
            self.log.info('Executing: %s', self.sql)
            self.hook = BigQueryHook(
                gcp_conn_id=self.gcp_conn_id,
                use_legacy_sql=self.use_legacy_sql,
                delegate_to=self.delegate_to,
                location=self.location,
                impersonation_chain=self.impersonation_chain,
            )
        if isinstance(self.sql, str):
            job_id = self.hook.run_query(
                sql=self.sql,
                destination_dataset_table=self.destination_dataset_table,
                write_disposition=self.write_disposition,
                allow_large_results=self.allow_large_results,
                flatten_results=self.flatten_results,
                udf_config=self.udf_config,
                maximum_billing_tier=self.maximum_billing_tier,
                maximum_bytes_billed=self.maximum_bytes_billed,
                create_disposition=self.create_disposition,
                query_params=self.query_params,
                labels=self.labels,
                schema_update_options=self.schema_update_options,
                priority=self.priority,
                time_partitioning=self.time_partitioning,
                api_resource_configs=self.api_resource_configs,
                cluster_fields=self.cluster_fields,
                encryption_configuration=self.encryption_configuration,