**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,
        fields: Sequence[str],
        dataset_resource: Dict[str, Any],
        dataset_id: Optional[str] = None,
        project_id: Optional[str] = None,
        retry: Retry = DEFAULT_RETRY,
    ) -> Dataset:
        """
        Change some fields of a dataset.
        Use ``fields`` to specify which fields to update. At least one field
        must be provided. If a field is listed in ``fields`` and is ``None`` in
        ``dataset``, it will be deleted.
        If ``dataset.etag`` is not ``None``, the update will only
        succeed if the dataset on the server has the same ETag. Thus
        reading a dataset with ``get_dataset``, changing its fields,