**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
"""
        This method is deprecated.
        Please use `airflow.providers.google.cloud.hooks.bigquery.BigQueryHook.create_empty_table`
        """
        warnings.warn(
            "This method is deprecated. "
            "Please use `airflow.providers.google.cloud.hooks.bigquery.BigQueryHook.create_empty_table`",
            DeprecationWarning,
            stacklevel=3,
        )
        return self.hook.create_empty_table(*args, **kwargs)
    def create_empty_dataset(self, *args, **kwargs) -> None:
        """
        This method is deprecated.
        Please use `airflow.providers.google.cloud.hooks.bigquery.BigQueryHook.create_empty_dataset`
        """
        warnings.warn(
            "This method is deprecated. "
            "Please use `airflow.providers.google.cloud.hooks.bigquery.BigQueryHook.create_empty_dataset`",
            DeprecationWarning,
            stacklevel=3,
        )
        return self.hook.create_empty_dataset(*args, **kwargs)
    def get_dataset_tables(self, *args, **kwargs) -> List[Dict[str, Any]]: