**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
for param, value in zip(["datasetId", "projectId"], [dataset_id, project_id]):
            specified_param = dataset_reference["datasetReference"].get(param)
            if specified_param:
                if value:
                    self.log.info(
                        "`%s` was provided in both `dataset_reference` and as `%s`. "
                        "Using value from `dataset_reference`",
                        param,
                        convert_camel_to_snake(param),
                    )
                continue  # 
            if not value:
                raise ValueError(
                    f"Please specify `{param}` either in `dataset_reference` "
                    f"or by providing `{convert_camel_to_snake(param)}`",
                )
            # 
            self.log.info(
                "%s was not specified in `dataset_reference`. Will use default value %s.", param, value
            )
            dataset_reference["datasetReference"][param] = value
        location = location or self.location
        if location:
            dataset_reference["location"] = dataset_reference.get("location", location)
        dataset: Dataset = Dataset.from_api_repr(dataset_reference)
        self.log.info('Creating dataset: %s in project: %s ', dataset.dataset_id, dataset.project)
        self.get_client(location=location).create_dataset(dataset=dataset, exists_ok=exists_ok)
        self.log.info('Dataset created successfully.')
    @GoogleBaseHook.fallback_to_default_project_id
    def get_dataset_tables(