**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
ExternalConfig,
    ExtractJob,
    LoadJob,
    QueryJob,
    SchemaField,
)
from google.cloud.bigquery.dataset import AccessEntry, Dataset, DatasetListItem, DatasetReference
from google.cloud.bigquery.table import EncryptionConfiguration, Row, Table, TableReference
from google.cloud.exceptions import NotFound
from googleapiclient.discovery import build
from pandas import DataFrame
from pandas_gbq import read_gbq
from pandas_gbq.gbq import (
    GbqConnector,
    _check_google_client_version as gbq_check_google_client_version,
    _test_google_api_imports as gbq_test_google_api_imports,
)
from airflow.exceptions import AirflowException
from airflow.hooks.dbapi_hook import DbApiHook
from airflow.providers.google.common.hooks.base_google import GoogleBaseHook
from airflow.utils.helpers import convert_camel_to_snake
from airflow.utils.log.logging_mixin import LoggingMixin
log = logging.getLogger(__name__)
BigQueryJob = Union[CopyJob, QueryJob, LoadJob, ExtractJob]
class BigQueryHook(GoogleBaseHook, DbApiHook):
    """
    Interact with BigQuery. This hook uses the Google Cloud connection.
    """
    conn_name_attr = 'gcp_conn_id'  
    def __init__(